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airspeed calibration: Update and resolve compile errors

This commit is contained in:
Lorenz Meier 2014-07-12 19:10:08 +02:00
parent 0332b79cdf
commit 0d1ac42354
1 changed files with 33 additions and 42 deletions
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11
src/modules/commander/airspeed_calibration.cpp
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@ -51,6 +51,7 @@
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/airspeed.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@ -103,16 +104,10 @@ int do_airspeed_calibration(int mavlink_fd)
}
}
for (unsigned i = 0; i < (sizeof(diff_pres_offset) / sizeof(diff_pres_offset[0])); i++) {
unsigned calibration_counter = 0;
if (i == 0) {
mavlink_log_critical(mavlink_fd, "Ensure sensor is not measuring wind");
usleep(500 * 1000);
}
float diff_pres_offset = 0.0f;
while (calibration_counter < calibration_count) {
@ -126,8 +121,6 @@ int do_airspeed_calibration(int mavlink_fd)
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
if (i > 0) {
if (calc_indicated_airspeed(fabsf(diff_pres.differential_pressure_raw_pa)) < 10.0f) {
mavlink_log_critical(mavlink_fd, "Put a finger on front hole of pitot");
usleep(5000 * 1000);
@ -140,7 +133,6 @@ int do_airspeed_calibration(int mavlink_fd)
close(diff_pres_sub);
return ERROR;
}
}
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
calibration_counter++;
@ -156,7 +148,6 @@ int do_airspeed_calibration(int mavlink_fd)
return ERROR;
}
}
}
diff_pres_offset = diff_pres_offset / calibration_count;