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Rover: Simplify radio trimming, improve MAVLink report

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This commit is contained in:
Michael du Breuil 2018-05-25 13:26:55 -07:00 committed by WickedShell
parent 12da35220c
commit c85f8c7bf5
3 changed files with 16 additions and 16 deletions
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7
APMrover2/GCS_Mavlink.cpp
View File

@ -491,8 +491,11 @@ void GCS_MAVLINK_Rover::handle_change_alt_request(AP_Mission::Mission_Command &c
MAV_RESULT GCS_MAVLINK_Rover::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{
if (is_equal(packet.param4, 1.0f)) {
rover.trim_radio();
return MAV_RESULT_ACCEPTED;
if (rover.trim_radio()) {
return MAV_RESULT_ACCEPTED;
} else {
return MAV_RESULT_FAILED;
}
}
return GCS_MAVLINK::_handle_command_preflight_calibration(packet);

3
APMrover2/Rover.h
View File

@ -503,8 +503,7 @@ private:
void rudder_arm_disarm_check();
void read_radio();
void control_failsafe(uint16_t pwm);
void trim_control_surfaces();
void trim_radio();
bool trim_radio();
// sensors.cpp
void init_compass(void);

22
APMrover2/radio.cpp
View File

@ -137,22 +137,20 @@ void Rover::control_failsafe(uint16_t pwm)
}
}
void Rover::trim_control_surfaces()
bool Rover::trim_radio()
{
read_radio();
if (failsafe.bits & FAILSAFE_EVENT_RC) {
// can't trim without valid input
return false;
}
// Store control surface trim values
// ---------------------------------
if ((channel_steer->get_radio_in() > 1400) && (channel_steer->get_radio_in() < 1600)) {
channel_steer->set_radio_trim(channel_steer->get_radio_in());
// save to eeprom
channel_steer->save_eeprom();
channel_steer->set_and_save_radio_trim(channel_steer->get_radio_in());
} else {
return false;
}
}
void Rover::trim_radio()
{
for (uint8_t y = 0; y < 30; y++) {
read_radio();
}
trim_control_surfaces();
return true;
}