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Merge pull request #1982 from DonLakeFlyer/MagCal 

Report alternate side done for mag cal
This commit is contained in:
Lorenz Meier 2015-04-04 10:06:47 +02:00
parent 2dec10b8b7 bb6b30f57a
commit 0a33ef4e33
1 changed files with 9 additions and 6 deletions
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15
src/modules/commander/mag_calibration.cpp
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@ -239,29 +239,32 @@ int mag_calibration_worker(detect_orientation_return orientation, void* data)
// Mark the opposite side as collected as well. No need to collect opposite side since it
// would generate similar points.
detect_orientation_return alternateOrientation = orientation;
switch (orientation) {
case DETECT_ORIENTATION_TAIL_DOWN:
worker_data->side_data_collected[DETECT_ORIENTATION_NOSE_DOWN] = true;
alternateOrientation = DETECT_ORIENTATION_NOSE_DOWN;
break;
case DETECT_ORIENTATION_NOSE_DOWN:
worker_data->side_data_collected[DETECT_ORIENTATION_TAIL_DOWN] = true;
alternateOrientation = DETECT_ORIENTATION_TAIL_DOWN;
break;
case DETECT_ORIENTATION_LEFT:
worker_data->side_data_collected[DETECT_ORIENTATION_RIGHT] = true;
alternateOrientation = DETECT_ORIENTATION_RIGHT;
break;
case DETECT_ORIENTATION_RIGHT:
worker_data->side_data_collected[DETECT_ORIENTATION_LEFT] = true;
alternateOrientation = DETECT_ORIENTATION_LEFT;
break;
case DETECT_ORIENTATION_UPSIDE_DOWN:
worker_data->side_data_collected[DETECT_ORIENTATION_RIGHTSIDE_UP] = true;
alternateOrientation = DETECT_ORIENTATION_RIGHTSIDE_UP;
break;
case DETECT_ORIENTATION_RIGHTSIDE_UP:
worker_data->side_data_collected[DETECT_ORIENTATION_UPSIDE_DOWN] = true;
alternateOrientation = DETECT_ORIENTATION_UPSIDE_DOWN;
break;
case DETECT_ORIENTATION_ERROR:
warnx("Invalid orientation in mag_calibration_worker");
break;
}
worker_data->side_data_collected[alternateOrientation] = true;
mavlink_and_console_log_info(worker_data->mavlink_fd, "%s side done, rotate to a different side", detect_orientation_str(alternateOrientation));
worker_data->done_count++;
mavlink_and_console_log_info(worker_data->mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 34 * worker_data->done_count);