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px4-firmware
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Merge branch 'master' into fixedwing_outdoor

This commit is contained in:
Lorenz Meier 2012-11-27 17:27:55 +01:00
parent 98283e16b0 f88feceab6
commit e5177b383b
2 changed files with 48 additions and 7 deletions
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53
apps/drivers/hmc5883/hmc5883.cpp
View File

@ -288,6 +288,20 @@ private:
*/
int check_calibration();
/**
* Check the current scale calibration
*
* @return 0 if scale calibration is ok, 1 else
*/
int check_scale();
/**
* Check the current offset calibration
*
* @return 0 if offset calibration is ok, 1 else
*/
int check_offset();
};
/* helper macro for handling report buffer indices */
@ -1016,11 +1030,11 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
out:
if (ret == OK) {
if (!check_calibration()) {
if (!check_scale()) {
warnx("mag scale calibration successfully finished.");
} else {
warnx("mag scale calibration finished with invalid results.");
ret == ERROR;
ret = ERROR;
}
} else {
@ -1030,9 +1044,9 @@ out:
return ret;
}
int HMC5883::check_calibration()
int HMC5883::check_scale()
{
bool scale_valid, offset_valid;
bool scale_valid;
if ((-FLT_EPSILON + 1.0f < _scale.x_scale && _scale.x_scale < FLT_EPSILON + 1.0f) &&
(-FLT_EPSILON + 1.0f < _scale.y_scale && _scale.y_scale < FLT_EPSILON + 1.0f) &&
@ -1043,6 +1057,14 @@ int HMC5883::check_calibration()
scale_valid = true;
}
/* return 0 if calibrated, 1 else */
return !scale_valid;
}
int HMC5883::check_offset()
{
bool offset_valid;
if ((-2.0f * FLT_EPSILON < _scale.x_offset && _scale.x_offset < 2.0f * FLT_EPSILON) &&
(-2.0f * FLT_EPSILON < _scale.y_offset && _scale.y_offset < 2.0f * FLT_EPSILON) &&
(-2.0f * FLT_EPSILON < _scale.z_offset && _scale.z_offset < 2.0f * FLT_EPSILON)) {
@ -1052,17 +1074,36 @@ int HMC5883::check_calibration()
offset_valid = true;
}
if (_calibrated != (offset_valid && scale_valid)) {
/* return 0 if calibrated, 1 else */
return !offset_valid;
}
int HMC5883::check_calibration()
{
bool offset_valid = !(check_offset() == OK);
bool scale_valid = !(check_scale() == OK);
if (_calibrated != (offset_valid && scale_valid == OK)) {
warnx("mag cal status changed %s%s", (scale_valid) ? "" : "scale invalid ",
(offset_valid) ? "" : "offset invalid");
_calibrated = (offset_valid && scale_valid);
// XXX Change advertisement
/* notify about state change */
struct subsystem_info_s info = {
true,
true,
_calibrated,
SUBSYSTEM_TYPE_MAG};
orb_advert_t pub = orb_advertise(ORB_ID(subsystem_info), &info);
static orb_advert_t pub = -1;
if (pub > 0) {
orb_publish(ORB_ID(subsystem_info), pub, &info);
} else {
pub = orb_advertise(ORB_ID(subsystem_info), &info);
}
}
/* return 0 if calibrated, 1 else */

2
nuttx/configs/px4fmu/nsh/defconfig
View File

@ -692,7 +692,7 @@ CONFIG_ARCH_BZERO=n
CONFIG_MAX_TASKS=32
CONFIG_MAX_TASK_ARGS=8
CONFIG_NPTHREAD_KEYS=4
CONFIG_NFILE_DESCRIPTORS=25
CONFIG_NFILE_DESCRIPTORS=32
CONFIG_NFILE_STREAMS=25
CONFIG_NAME_MAX=32
CONFIG_STDIO_BUFFER_SIZE=256