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Airspeed calibration improvements

This commit is contained in:
Lorenz Meier 2014-07-12 23:30:00 +02:00
parent 34abf5c40c
commit 65409ad2c8
1 changed files with 15 additions and 8 deletions
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23
src/modules/commander/airspeed_calibration.cpp
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@ -125,7 +125,7 @@ int do_airspeed_calibration(int mavlink_fd)
calibration_counter++;
if (calibration_counter % (calibration_count / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 100) / calibration_count / 2);
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 80) / calibration_count);
}
} else if (poll_ret == 0) {
@ -165,6 +165,8 @@ int do_airspeed_calibration(int mavlink_fd)
/* wait 500 ms to ensure parameter propagated through the system */
usleep(500 * 1000);
calibration_counter = 0;
/* just take a few samples and make sure pitot tubes are not reversed */
while (calibration_counter < 10) {
@ -178,16 +180,18 @@ int do_airspeed_calibration(int mavlink_fd)
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
if (fabsf(diff_pres.differential_pressure_raw_pa) < 10.0f) {
mavlink_log_critical(mavlink_fd, "Put a finger on front hole of pitot (%.1f Pa)",
(double)diff_pres.differential_pressure_raw_pa);
float calibrated_pa = diff_pres.differential_pressure_raw_pa - diff_pres_offset;
if (fabsf(calibrated_pa) < 9.0f) {
mavlink_log_critical(mavlink_fd, "Create airflow on pitot (%.1f Pa, #h101)",
(double)calibrated_pa);
usleep(3000 * 1000);
continue;
}
/* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_critical(mavlink_fd, "Negative val: swap static<->dynamic ports,restart");
if (calibrated_pa < 0.0f) {
mavlink_log_critical(mavlink_fd, "Negative val: swap static vs dynamic ports,restart");
close(diff_pres_sub);
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
@ -205,8 +209,9 @@ int do_airspeed_calibration(int mavlink_fd)
close(diff_pres_sub);
return ERROR;
} else {
close(diff_pres_sub);
return OK;
mavlink_log_info(mavlink_fd, "positive pressure: (%.1f Pa)",
(double)diff_pres.differential_pressure_raw_pa);
break;
}
} else if (poll_ret == 0) {
@ -217,6 +222,8 @@ int do_airspeed_calibration(int mavlink_fd)
}
}
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100);
mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
tune_neutral(true);
close(diff_pres_sub);