dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Merge pull request #33 from julianoes/master 

auto save after calibration (however the rest is reset to stock)
This commit is contained in:
Lorenz Meier 2012-09-25 01:53:17 -07:00
parent 505acf94e7 e217540e01
commit a8b2e40b31
1 changed files with 53 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

54
apps/commander/commander.c
View File

@ -71,7 +71,7 @@
#include <uORB/topics/subsystem_info.h>
#include <uORB/topics/actuator_controls.h>
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>
#include <systemlib/err.h>
@ -136,6 +136,7 @@ static void led_deinit(void);
static int led_toggle(int led);
static int led_on(int led);
static int led_off(int led);
static int pm_save_eeprom(bool only_unsaved);
static void do_gyro_calibration(int status_pub, struct vehicle_status_s *status);
static void do_mag_calibration(int status_pub, struct vehicle_status_s *status);
static void do_accel_calibration(int status_pub, struct vehicle_status_s *status);
@ -266,6 +267,33 @@ static void cal_bsort(float a[], int n)
}
}
static const char *parameter_file = "/eeprom/parameters";
static int pm_save_eeprom(bool only_unsaved)
{
/* delete the file in case it exists */
unlink(parameter_file);
/* create the file */
int fd = open(parameter_file, O_WRONLY | O_CREAT | O_EXCL);
if (fd < 0) {
warn("opening '%s' for writing failed", parameter_file);
return -1;
}
int result = param_export(fd, only_unsaved);
close(fd);
if (result != 0) {
unlink(parameter_file);
warn("error exporting parameters to '%s'", parameter_file);
return -2;
}
return 0;
}
void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
{
/* set to mag calibration mode */
@ -487,6 +515,14 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
free(mag_minima[1]);
free(mag_minima[2]);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
mavlink_log_info(mavlink_fd, "[commander] magnetometer calibration finished");
close(sub_sensor_combined);
}
@ -566,10 +602,18 @@ void do_gyro_calibration(int status_pub, struct vehicle_status_s *status)
warn("WARNING: failed to set scale / offsets for gyro");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
/* exit to gyro calibration mode */
status->flag_preflight_gyro_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
mavlink_log_info(mavlink_fd, "[commander] gyro calibration finished");
// char offset_output[50];
// sprintf(offset_output, "[commander] gyro cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
// mavlink_log_info(mavlink_fd, offset_output);
@ -675,10 +719,18 @@ void do_accel_calibration(int status_pub, struct vehicle_status_s *status)
warn("WARNING: failed to set scale / offsets for accel");
close(fd);
/* auto-save to EEPROM */
int save_ret = pm_save_eeprom(false);
if(save_ret != 0) {
warn("WARNING: auto-save of params to EEPROM failed");
}
/* exit to gyro calibration mode */
status->flag_preflight_accel_calibration = false;
state_machine_publish(status_pub, status, mavlink_fd);
mavlink_log_info(mavlink_fd, "[commander] acceleration calibration finished");
// char offset_output[50];
// sprintf(offset_output, "[commander] accel cal: x:%8.4f y:%8.4f z:%8.4f", (double)accel_offset[0],
// (double)accel_offset[1], (double)accel_offset[2]);