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px4-firmware
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Cleaning up calibration requests

This commit is contained in:
Lorenz Meier 2012-12-28 13:18:52 +01:00
parent d96add5b61
commit a1e1e7bf42
1 changed files with 10 additions and 10 deletions
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20
apps/commander/commander.c
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@ -881,10 +881,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[cmd] CMD starting gyro calibration");
mavlink_log_info(mavlink_fd, "[cmd] starting gyro calibration");
tune_confirm();
do_gyro_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[cmd] CMD finished gyro calibration");
mavlink_log_info(mavlink_fd, "[cmd] finished gyro calibration");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
@ -901,15 +901,15 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[cmd] CMD starting mag calibration");
mavlink_log_info(mavlink_fd, "[cmd] starting mag calibration");
tune_confirm();
do_mag_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[cmd] CMD finished mag calibration");
mavlink_log_info(mavlink_fd, "[cmd] finished mag calibration");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[cmd] CMD REJECTING mag calibration");
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING mag calibration");
result = MAV_RESULT_DENIED;
}
handled = true;
@ -921,10 +921,10 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[cmd] zero altitude not implemented");
mavlink_log_info(mavlink_fd, "[cmd] zero altitude cal. not implemented");
tune_confirm();
} else {
mavlink_log_critical(mavlink_fd, "[cmd] CMD REJECTING mag calibration");
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING altitude calibration");
result = MAV_RESULT_DENIED;
}
handled = true;
@ -936,15 +936,15 @@ void handle_command(int status_pub, struct vehicle_status_s *current_vehicle_sta
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_PREFLIGHT);
if (current_status.state_machine == SYSTEM_STATE_PREFLIGHT) {
mavlink_log_info(mavlink_fd, "[cmd] CMD starting mag calibration");
mavlink_log_info(mavlink_fd, "[cmd] starting trim calibration");
tune_confirm();
do_rc_calibration(status_pub, &current_status);
mavlink_log_info(mavlink_fd, "[cmd] CMD finished mag calibration");
mavlink_log_info(mavlink_fd, "[cmd] finished trim calibration");
tune_confirm();
do_state_update(status_pub, &current_status, mavlink_fd, SYSTEM_STATE_STANDBY);
result = MAV_RESULT_ACCEPTED;
} else {
mavlink_log_critical(mavlink_fd, "[cmd] CMD REJECTING mag calibration");
mavlink_log_critical(mavlink_fd, "[cmd] REJECTING trim calibration");
result = MAV_RESULT_DENIED;
}
handled = true;