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INS: make calibrate_accel() return a bool 

this will allow APM to auto set MANUAL_LEVEL to 1
This commit is contained in:
Andrew Tridgell 2012-11-20 18:26:51 +11:00
parent 152c12c283
commit 9c811671f1
2 changed files with 17 additions and 18 deletions
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33
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -232,7 +232,7 @@ AP_InertialSensor::_init_accel(void (*delay_cb)(unsigned long t), void (*flash_l
} }
// perform accelerometer calibration including providing user instructions and feedback // perform accelerometer calibration including providing user instructions and feedback
void AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on), void (*send_msg)(const prog_char_t *, ...)) bool AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on), void (*send_msg)(const prog_char_t *, ...))
{ {
Vector3f samples[6]; Vector3f samples[6];
Vector3f new_offsets; Vector3f new_offsets;
@ -274,9 +274,9 @@ void AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void
break; break;
} }
if (send_msg == NULL) { if (send_msg == NULL) {
Serial.printf_P(PSTR("USER: Place APM %S and press any key.\n"), msg);
}else{
send_msg(PSTR("USER: Place APM %S and press any key.\n"), msg); send_msg(PSTR("USER: Place APM %S and press any key.\n"), msg);
}else{
Serial.printf_P(PSTR("USER: Place APM %S and press any key.\n"), msg);
} }
// wait for user input // wait for user input
@ -305,29 +305,28 @@ void AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void
// run the calibration routine // run the calibration routine
if( _calibrate_accel(samples, new_offsets, new_scaling) ) { if( _calibrate_accel(samples, new_offsets, new_scaling) ) {
if (send_msg == NULL) { if (send_msg == NULL) {
Serial.printf_P(PSTR("Calibration successful\n"));
}else{
send_msg(PSTR("Calibration successful\n")); send_msg(PSTR("Calibration successful\n"));
}else{
Serial.printf_P(PSTR("Calibration successful\n"));
} }
// set and save calibration // set and save calibration
_accel_offset.set(new_offsets); _accel_offset.set(new_offsets);
_accel_scale.set(new_scaling); _accel_scale.set(new_scaling);
_save_parameters(); _save_parameters();
}else{ return true;
if (send_msg == NULL) {
Serial.printf_P(PSTR("Calibration failed\n"));
}else{
send_msg(PSTR("Calibration failed\n"));
}
// restore original scaling and offsets
_accel_offset.set(orig_offset);
_accel_scale.set(orig_scale);
} }
delay_cb(100);
if (send_msg == NULL) {
send_msg(PSTR("Calibration failed\n"));
} else {
Serial.printf_P(PSTR("Calibration failed\n"));
}
// restore original scaling and offsets
_accel_offset.set(orig_offset);
_accel_scale.set(orig_scale);
return false;
} }
// _calibrate_model - perform low level accel calibration // _calibrate_model - perform low level accel calibration

2
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -50,7 +50,7 @@ public:
virtual void init_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on)); virtual void init_accel(void (*delay_cb)(unsigned long t), void (*flash_leds_cb)(bool on));
// perform accelerometer calibration including providing user instructions and feedback // perform accelerometer calibration including providing user instructions and feedback
virtual void calibrate_accel(void (*delay_cb)(unsigned long t), virtual bool calibrate_accel(void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on) = NULL, void (*flash_leds_cb)(bool on) = NULL,
void (*send_msg)(const prog_char_t *, ...) = NULL); void (*send_msg)(const prog_char_t *, ...) = NULL);