Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: move common calibration functions up

Browse Source
This commit is contained in:
Peter Barker 2018-03-17 22:56:21 +11:00 committed by Francisco Ferreira
parent 60aaabd93a
commit 71bc3f5def
1 changed files with 0 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

49
ArduPlane/GCS_Mavlink.cpp
View File

@ -851,18 +851,6 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_preflight_calibration(const mavlink
MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param1,1.0f)) {
/*
gyro calibration
*/
plane.ins.init_gyro();
if (!plane.ins.gyro_calibrated_ok_all()) {
return MAV_RESULT_FAILED;
}
plane.ahrs.reset_gyro_drift();
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param3,1.0f)) {
/*
baro and airspeed calibration
@ -882,43 +870,6 @@ MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration(const mavlin
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param5,1.0f)) {
/*
accel calibration
*/
// start with gyro calibration
plane.ins.init_gyro();
// reset ahrs gyro bias
if (!plane.ins.gyro_calibrated_ok_all()) {
return MAV_RESULT_FAILED;
}
plane.ahrs.reset_gyro_drift();
plane.ins.acal_init();
plane.ins.get_acal()->start(this);
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param5,2.0f)) {
/*
ahrs trim
*/
// start with gyro calibration
plane.ins.init_gyro();
// accel trim
float trim_roll, trim_pitch;
if(!plane.ins.calibrate_trim(trim_roll, trim_pitch)) {
return MAV_RESULT_FAILED;
}
// reset ahrs's trim to suggested values from calibration routine
plane.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param5,4.0f)) {
// simple accel calibration
return plane.ins.simple_accel_cal(plane.ahrs);
}
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
}