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Copter: add stick gesture to begin compass calibration

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This commit is contained in:
Jonathan Challinger 2016-09-27 13:33:56 -07:00 committed by Randy Mackay
parent 36b5d43efb
commit a393bd26d7
2 changed files with 26 additions and 0 deletions
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7
ArduCopter/config.h
View File

@ -259,6 +259,13 @@
#endif
#endif
#ifndef COMPASS_CAL_STICK_GESTURE_TIME
#define COMPASS_CAL_STICK_GESTURE_TIME 2.0f // 2 seconds
#endif
#ifndef COMPASS_CAL_STICK_DELAY
#define COMPASS_CAL_STICK_DELAY 5.0f
#endif
//////////////////////////////////////////////////////////////////////////////
// OPTICAL_FLOW
#ifndef OPTFLOW

19
ArduCopter/sensors.cpp
View File

@ -188,15 +188,34 @@ void Copter::read_receiver_rssi(void)
void Copter::compass_cal_update()
{
static uint32_t compass_cal_stick_gesture_begin = 0;
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
#ifdef CAL_ALWAYS_REBOOT
if (compass.compass_cal_requires_reboot()) {
hal.scheduler->delay(1000);
hal.scheduler->reboot(false);
return;
}
#endif
if (compass.is_calibrating()) {
if (channel_yaw->get_control_in() < -4000 && channel_throttle->get_control_in() > 900) {
compass.cancel_calibration_all();
}
} else {
bool stick_gesture_detected = compass_cal_stick_gesture_begin != 0 && !motors.armed() && channel_yaw->get_control_in() > 4000 && channel_throttle->get_control_in() > 900;
uint32_t tnow = millis();
if (!stick_gesture_detected) {
compass_cal_stick_gesture_begin = tnow;
} else if (tnow-compass_cal_stick_gesture_begin > 1000*COMPASS_CAL_STICK_GESTURE_TIME) {
compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,false);
}
}
}
void Copter::accel_cal_update()