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More sensible error handling in calibration

This commit is contained in:
Lorenz Meier 2013-02-18 16:45:59 +01:00
parent 5e8efbf2e9
commit 104d5aa365
1 changed files with 17 additions and 11 deletions
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28
apps/commander/commander.c
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@ -421,7 +421,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
// mavlink_log_info(mavlink_fd, buf);
// }
if (poll(fds, 1, 1000)) {
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_mag), sub_mag, &mag);
x[calibration_counter] = mag.x;
@ -453,9 +455,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
calibration_counter++;
} else {
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "mag cal canceled");
mavlink_log_info(mavlink_fd, "mag cal canceled (timed out)");
break;
}
}
@ -545,7 +547,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
/* third beep by cal end routine */
} else {
mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN)");
mavlink_log_info(mavlink_fd, "mag calibration FAILED (NaN in sphere fit)");
}
/* disable calibration mode */
@ -590,14 +592,16 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
if (poll(fds, 1, 1000)) {
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
gyro_offset[0] += raw.gyro_rad_s[0];
gyro_offset[1] += raw.gyro_rad_s[1];
gyro_offset[2] += raw.gyro_rad_s[2];
calibration_counter++;
} else {
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "gyro calibration aborted, retry");
return;
@ -698,14 +702,16 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
/* wait blocking for new data */
struct pollfd fds[1] = { { .fd = sub_sensor_combined, .events = POLLIN } };
if (poll(fds, 1, 1000)) {
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(sensor_combined), sub_sensor_combined, &raw);
accel_offset[0] += raw.accelerometer_m_s2[0];
accel_offset[1] += raw.accelerometer_m_s2[1];
accel_offset[2] += raw.accelerometer_m_s2[2];
calibration_counter++;
} else {
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "acceleration calibration aborted");
return;
@ -1225,7 +1231,6 @@ int commander_main(int argc, char *argv[])
4000,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;
exit(0);
}
@ -1311,7 +1316,8 @@ int commander_thread_main(int argc, char *argv[])
memset(&home, 0, sizeof(home));
if (stat_pub < 0) {
warnx("ERROR: orb_advertise for topic vehicle_status failed.\n");
warnx("ERROR: orb_advertise for topic vehicle_status failed (uorb app running?).\n");
warnx("exiting.");
exit(ERROR);
}
@ -1396,6 +1402,7 @@ int commander_thread_main(int argc, char *argv[])
/* now initialized */
commander_initialized = true;
thread_running = true;
uint64_t start_time = hrt_absolute_time();
uint64_t failsave_ll_start_time = 0;
@ -1403,7 +1410,6 @@ int commander_thread_main(int argc, char *argv[])
bool state_changed = true;
bool param_init_forced = true;
while (!thread_should_exit) {
/* Get current values */