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Copter: move common calibration functions up

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This commit is contained in:
Peter Barker 2018-03-17 23:12:33 +11:00 committed by Francisco Ferreira
parent 5536a321ed
commit cca4d5136e
3 changed files with 0 additions and 56 deletions
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1
ArduCopter/Copter.h
View File

@ -943,7 +943,6 @@ private:
// system.cpp // system.cpp
void init_ardupilot(); void init_ardupilot();
void startup_INS_ground(); void startup_INS_ground();
bool calibrate_gyros();
bool position_ok(); bool position_ok();
bool ekf_position_ok(); bool ekf_position_ok();
bool optflow_position_ok(); bool optflow_position_ok();

40
ArduCopter/GCS_Mavlink.cpp
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@ -720,52 +720,12 @@ void GCS_MAVLINK_Copter::handle_command_ack(const mavlink_message_t* msg)
MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet) MAV_RESULT GCS_MAVLINK_Copter::_handle_command_preflight_calibration(const mavlink_command_long_t &packet)
{ {
if (is_equal(packet.param1,1.0f)) {
if (!copter.calibrate_gyros()) {
return MAV_RESULT_FAILED;
}
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param3,1.0f)) { if (is_equal(packet.param3,1.0f)) {
// fast barometer calibration // fast barometer calibration
copter.init_barometer(false); copter.init_barometer(false);
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} }
if (is_equal(packet.param4,1.0f)) {
return MAV_RESULT_UNSUPPORTED;
}
if (is_equal(packet.param5,1.0f)) {
// 3d accel calibration
if (!copter.calibrate_gyros()) {
return MAV_RESULT_FAILED;
}
copter.ins.acal_init();
copter.ins.get_acal()->start(this);
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param5,2.0f)) {
// calibrate gyros
if (!copter.calibrate_gyros()) {
return MAV_RESULT_FAILED;
}
// accel trim
float trim_roll, trim_pitch;
if(!copter.ins.calibrate_trim(trim_roll, trim_pitch)) {
return MAV_RESULT_FAILED;
}
// reset ahrs's trim to suggested values from calibration routine
copter.ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
return MAV_RESULT_ACCEPTED;
}
if (is_equal(packet.param5,4.0f)) {
// simple accel calibration
return copter.ins.simple_accel_cal(copter.ahrs);
}
if (is_equal(packet.param6,1.0f)) { if (is_equal(packet.param6,1.0f)) {
// compassmot calibration // compassmot calibration
return copter.mavlink_compassmot(chan); return copter.mavlink_compassmot(chan);

15
ArduCopter/system.cpp
View File

@ -301,21 +301,6 @@ void Copter::startup_INS_ground()
ahrs.reset(); ahrs.reset();
} }
// calibrate gyros - returns true if successfully calibrated
bool Copter::calibrate_gyros()
{
// gyro offset calibration
copter.ins.init_gyro();
// reset ahrs gyro bias
if (copter.ins.gyro_calibrated_ok_all()) {
copter.ahrs.reset_gyro_drift();
return true;
}
return false;
}
// position_ok - returns true if the horizontal absolute position is ok and home position is set // position_ok - returns true if the horizontal absolute position is ok and home position is set
bool Copter::position_ok() bool Copter::position_ok()
{ {