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Tracker: calibrate gyros on accel cal and trim

This commit is contained in:
Randy Mackay 2015-09-21 12:10:19 +09:00
parent 7f0aad63b9
commit b6229288a1
1 changed files with 8 additions and 0 deletions
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8
AntennaTracker/GCS_Mavlink.cpp
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@ -624,11 +624,19 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
} else if (is_equal(packet.param5,1.0f)) {
float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(this);
// start with gyro calibration
tracker.ins.init_gyro();
// reset ahrs gyro bias
if (tracker.ins.gyro_calibrated_ok_all()) {
tracker.ahrs.reset_gyro_drift();
}
if(tracker.ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
tracker.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
} else if (is_equal(packet.param5,2.0f)) {
// start with gyro calibration
tracker.ins.init_gyro();
// accel trim
float trim_roll, trim_pitch;
if(tracker.ins.calibrate_trim(trim_roll, trim_pitch)) {