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INS: show calibration values on failure

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this will help debug bad calibrations
This commit is contained in:
Andrew Tridgell 2012-11-20 19:28:15 +11:00
parent e3f94963d8
commit b9fb683236
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -320,9 +320,13 @@ bool AP_InertialSensor::calibrate_accel(void (*delay_cb)(unsigned long t), void
} }
if (send_msg == NULL) { if (send_msg == NULL) {
Serial.printf_P(PSTR("Calibration failed\n")); Serial.printf_P(PSTR("Calibration failed (%.1f %.1f %.1f %.1f %.1f %.1f)\n"),
new_offsets.x, new_offsets.y, new_offsets.z,
new_scaling.x, new_scaling.y, new_scaling.z);
} else { } else {
send_msg(PSTR("Calibration failed\n")); send_msg(PSTR("Calibration failed (%.1f %.1f %.1f %.1f %.1f %.1f)\n"),
new_offsets.x, new_offsets.y, new_offsets.z,
new_scaling.x, new_scaling.y, new_scaling.z);
} }
// restore original scaling and offsets // restore original scaling and offsets
_accel_offset.set(orig_offset); _accel_offset.set(orig_offset);