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More calibration polishing

This commit is contained in:
Lorenz Meier 2013-08-27 10:15:17 +02:00
parent 94d8ec4a1c
commit 665a232592
1 changed files with 12 additions and 11 deletions
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23
src/modules/commander/accelerometer_calibration.cpp
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@ -217,20 +217,23 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
while (true) {
bool done = true;
char str[60];
int str_ptr;
str_ptr = sprintf(str, "keep the vehicle still in one of these axes:");
unsigned old_done_count = done_count;
done_count = 0;
for (int i = 0; i < 6; i++) {
if (!data_collected[i]) {
str_ptr += sprintf(&(str[str_ptr]), " %s", orientation_strs[i]);
done = false;
} else {
done_count++;
}
}
mavlink_log_info(mavlink_fd, "directions left: %s%s%s%s%s%s",
(!data_collected[0]) ? "x+ " : "",
(!data_collected[0]) ? "x- " : "",
(!data_collected[0]) ? "y+ " : "",
(!data_collected[0]) ? "y- " : "",
(!data_collected[0]) ? "z+ " : "",
(!data_collected[0]) ? "z- " : "");
if (old_done_count != done_count)
mavlink_log_info(mavlink_fd, "accel cal progress <%u> percent", 17 * done_count);
@ -242,19 +245,17 @@ int do_accel_calibration_measurements(int mavlink_fd, float accel_offs[3], float
return ERROR;
if (data_collected[orient]) {
sprintf(str, "%s done, please rotate to a different axis", orientation_strs[orient]);
mavlink_log_info(mavlink_fd, str);
mavlink_log_info(mavlink_fd, "%s done, please rotate to a different axis", orientation_strs[orient]);
continue;
}
// sprintf(str,
mavlink_log_info(mavlink_fd, "accel measurement started: %s axis", orientation_strs[orient]);
read_accelerometer_avg(sensor_combined_sub, &(accel_ref[orient][0]), samples_num);
str_ptr = sprintf(str, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient],
mavlink_log_info(mavlink_fd, "result for %s axis: [ %.2f %.2f %.2f ]", orientation_strs[orient],
(double)accel_ref[orient][0],
(double)accel_ref[orient][1],
(double)accel_ref[orient][2]);
mavlink_log_info(mavlink_fd, str);
data_collected[orient] = true;
tune_neutral();
}