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Tracker: tidy handling of barometer calibrations

This commit is contained in:
Peter Barker 2018-03-18 15:15:13 +11:00 committed by Francisco Ferreira
parent 1de68b78dc
commit b862e4f3a8
5 changed files with 6 additions and 22 deletions
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12
AntennaTracker/GCS_Mavlink.cpp
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@ -446,20 +446,16 @@ uint8_t GCS_MAVLINK_Tracker::sysid_my_gcs() const
return tracker.g.sysid_my_gcs;
}
MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration_baro()
{
if (is_equal(packet.param3,1.0f)) {
tracker.init_barometer(false);
MAV_RESULT ret = GCS_MAVLINK::_handle_command_preflight_calibration_baro();
if (ret == MAV_RESULT_ACCEPTED) {
// zero the altitude difference on next baro update
tracker.nav_status.need_altitude_calibration = true;
return MAV_RESULT_ACCEPTED;
}
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);
return ret;
}
void GCS_MAVLINK_Tracker::handleMessage(mavlink_message_t* msg)
{
switch (msg->msgid) {

2
AntennaTracker/GCS_Mavlink.h
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@ -28,7 +28,7 @@ protected:
bool set_mode(uint8_t mode) override;
MAV_RESULT _handle_command_preflight_calibration(const mavlink_command_long_t &packet) override;
MAV_RESULT _handle_command_preflight_calibration_baro() override;
private:

1
AntennaTracker/Tracker.h
View File

@ -221,7 +221,6 @@ private:
void update_scan(void);
bool servo_test_set_servo(uint8_t servo_num, uint16_t pwm);
void read_radio();
void init_barometer(bool full_calibration);
void update_barometer(void);
void update_ahrs();
void update_compass(void);

11
AntennaTracker/sensors.cpp
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@ -1,16 +1,5 @@
#include "Tracker.h"
void Tracker::init_barometer(bool full_calibration)
{
gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
if (full_calibration) {
barometer.calibrate();
} else {
barometer.update_calibration();
}
gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
}
// read the barometer and return the updated altitude in meters
void Tracker::update_barometer(void)
{

2
AntennaTracker/system.cpp
View File

@ -79,7 +79,7 @@ void Tracker::init_tracker()
ins.init(scheduler.get_loop_rate_hz());
ahrs.reset();
init_barometer(true);
barometer.calibrate();
// initialise DataFlash library
DataFlash.setVehicle_Startup_Log_Writer(FUNCTOR_BIND(&tracker, &Tracker::Log_Write_Vehicle_Startup_Messages, void));