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Change mag cal to 6 orientations

This commit is contained in:
Don Gagne 2015-06-24 13:19:46 -07:00 committed by Lorenz Meier
parent 1fdc6a9221
commit 338404b4b3
2 changed files with 7 additions and 7 deletions
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2
src/modules/commander/calibration_messages.h
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@ -49,7 +49,7 @@
// instead of visual calibration until such a time as QGC is update to the new version.
// The number in the cal started message is used to indicate the version stamp for the current calibration code.
#define CAL_QGC_STARTED_MSG "[cal] calibration started: 1 %s"
#define CAL_QGC_STARTED_MSG "[cal] calibration started: 2 %s"
#define CAL_QGC_DONE_MSG "[cal] calibration done: %s"
#define CAL_QGC_FAILED_MSG "[cal] calibration failed: %s"
#define CAL_QGC_WARNING_MSG "[cal] calibration warning: %s"

12
src/modules/commander/mag_calibration.cpp
View File

@ -66,7 +66,7 @@ static const int ERROR = -1;
static const char *sensor_name = "mag";
static const unsigned max_mags = 3;
static constexpr float mag_sphere_radius = 0.2f;
static const unsigned int calibration_sides = 3;
static const unsigned int calibration_sides = 6;
calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mags]);
@ -376,7 +376,7 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
worker_data.mavlink_fd = mavlink_fd;
worker_data.done_count = 0;
worker_data.calibration_points_perside = 80;
worker_data.calibration_points_perside = 40;
worker_data.calibration_interval_perside_seconds = 20;
worker_data.calibration_interval_perside_useconds = worker_data.calibration_interval_perside_seconds * 1000 * 1000;
@ -384,9 +384,9 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
worker_data.side_data_collected[DETECT_ORIENTATION_RIGHTSIDE_UP] = false;
worker_data.side_data_collected[DETECT_ORIENTATION_LEFT] = false;
worker_data.side_data_collected[DETECT_ORIENTATION_NOSE_DOWN] = false;
worker_data.side_data_collected[DETECT_ORIENTATION_TAIL_DOWN] = true;
worker_data.side_data_collected[DETECT_ORIENTATION_UPSIDE_DOWN] = true;
worker_data.side_data_collected[DETECT_ORIENTATION_RIGHT] = true;
worker_data.side_data_collected[DETECT_ORIENTATION_TAIL_DOWN] = false;
worker_data.side_data_collected[DETECT_ORIENTATION_UPSIDE_DOWN] = false;
worker_data.side_data_collected[DETECT_ORIENTATION_RIGHT] = false;
for (size_t cur_mag=0; cur_mag<max_mags; cur_mag++) {
// Initialize to no subscription
@ -520,7 +520,7 @@ calibrate_return mag_calibrate_all(int mavlink_fd, int32_t (&device_ids)[max_mag
printf("%8.4f, %8.4f, %8.4f\n", (double)x, (double)y, (double)z);
}
printf("SPHERE RADIUS: %8.4f", (double)sphere_radius[cur_mag]);
printf("SPHERE RADIUS: %8.4f\n", (double)sphere_radius[cur_mag]);
printf(">>>>>>>\n");
}
}