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Update airspeed calibration routine to account for new signedness options

This commit is contained in:
Lorenz Meier 2014-04-05 14:14:03 +02:00
parent cdec5e1d05
commit 3da219c3db
1 changed files with 8 additions and 6 deletions
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14
src/modules/commander/airspeed_calibration.cpp
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -64,9 +64,9 @@ int do_airspeed_calibration(int mavlink_fd)
{
/* give directions */
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
mavlink_log_info(mavlink_fd, "don't move system");
mavlink_log_info(mavlink_fd, "ensure airspeed sensor is not registering wind");
const int calibration_count = 2500;
const int calibration_count = 2000;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
@ -85,13 +85,15 @@ int do_airspeed_calibration(int mavlink_fd)
if (fd > 0) {
if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
paramreset_successful = true;
} else {
mavlink_log_critical(mavlink_fd, "airspeed offset zero failed");
}
close(fd);
}
if (!paramreset_successful) {
warn("WARNING: failed to set scale / offsets for airspeed sensor");
mavlink_log_critical(mavlink_fd, "could not reset dpress sensor");
warn("FAILED to set scale / offsets for airspeed");
mavlink_log_critical(mavlink_fd, "dpress reset failed");
mavlink_log_info(mavlink_fd, CAL_FAILED_MSG, sensor_name);
return ERROR;
}
@ -107,7 +109,7 @@ int do_airspeed_calibration(int mavlink_fd)
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
diff_pres_offset += diff_pres.differential_pressure_pa;
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
calibration_counter++;
if (calibration_counter % (calibration_count / 20) == 0)