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Fixed mag calibration

This commit is contained in:
Lorenz Meier 2012-10-30 16:44:16 +01:00
parent b1a83be611
commit 96dc901cae
1 changed files with 12 additions and 6 deletions
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18
apps/commander/commander.c
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@ -308,7 +308,7 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
uint64_t calibration_interval = 45 * 1000 * 1000;
/* maximum 2000 values */
const unsigned int calibration_maxcount = 2000;
const unsigned int calibration_maxcount = 500;
unsigned int calibration_counter = 0;
/* limit update rate to get equally spaced measurements over time (in ms) */
@ -353,12 +353,18 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
uint64_t axis_deadline = hrt_absolute_time();
uint64_t calibration_deadline = hrt_absolute_time() + calibration_interval;
const char axislabels[3] = { 'Z', 'X', 'Y'};
const char axislabels[3] = { 'X', 'Z', 'Y'};
int axis_index = -1;
float *x = malloc(sizeof(float) * calibration_maxcount);
float *y = malloc(sizeof(float) * calibration_maxcount);
float *z = malloc(sizeof(float) * calibration_maxcount);
float *x = (float*)malloc(sizeof(float) * calibration_maxcount);
float *y = (float*)malloc(sizeof(float) * calibration_maxcount);
float *z = (float*)malloc(sizeof(float) * calibration_maxcount);
if (x == NULL || y == NULL || z == NULL) {
warnx("mag cal failed: out of memory");
mavlink_log_info(mavlink_fd, "mag cal failed: out of memory");
return;
}
tune_confirm();
sleep(2);
@ -1095,7 +1101,7 @@ int commander_main(int argc, char *argv[])
daemon_task = task_spawn("commander",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 50,
8000,
9000,
commander_thread_main,
(argv) ? (const char **)&argv[2] : (const char **)NULL);
thread_running = true;