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commander: Better error handling for RC trim

This commit is contained in:
Lorenz Meier 2015-06-09 23:08:49 +02:00
parent 9bb91ea031
commit 8a3d3f61e6
1 changed files with 6 additions and 6 deletions
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12
src/modules/commander/rc_calibration.cpp
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@ -56,7 +56,7 @@ static const int ERROR = -1;
int do_trim_calibration(int mavlink_fd)
{
int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint));
usleep(200000);
usleep(400000);
struct manual_control_setpoint_s sp;
bool changed;
orb_check(sub_man, &changed);
@ -70,18 +70,18 @@ int do_trim_calibration(int mavlink_fd)
/* set parameters */
float p = sp.y;
param_set(param_find("TRIM_ROLL"), &p);
int p1r = param_set(param_find("TRIM_ROLL"), &p);
p = sp.x;
param_set(param_find("TRIM_PITCH"), &p);
int p2r = param_set(param_find("TRIM_PITCH"), &p);
p = sp.r;
param_set(param_find("TRIM_YAW"), &p);
int p3r = param_set(param_find("TRIM_YAW"), &p);
/* store to permanent storage */
/* auto-save */
int save_ret = param_save_default();
if (save_ret != 0) {
mavlink_log_critical(mavlink_fd, "TRIM: SAVE FAIL");
if (save_ret != 0 || p1r != 0 || p2r != 0 || p3r != 0) {
mavlink_log_critical(mavlink_fd, "TRIM: PARAM SET FAIL");
close(sub_man);
return ERROR;
}