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Plane: move common calibration functions up

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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
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49
ArduPlane/GCS_Mavlink.cpp
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@ -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) 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)) { if (is_equal(packet.param3,1.0f)) {
/* /*
baro and airspeed calibration baro and airspeed calibration
@ -882,43 +870,6 @@ MAV_RESULT GCS_MAVLINK_Plane::_handle_command_preflight_calibration(const mavlin
return MAV_RESULT_ACCEPTED; 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); return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
} }