forked from Archive/PX4-Autopilot
HMC5883: Reduce output, add indices to make back-tracking lines easier, remove output completely for an OK-operation (the driver is NOT the right place to talk to the user!)
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62db84fa75
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ea0a59f806
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@ -1049,11 +1049,9 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
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* LSM/Ga, giving 1.16 and 1.08 */
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float expected_cal[3] = { 1.16f, 1.08f, 1.08f };
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warnx("starting mag scale calibration");
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/* start the sensor polling at 50 Hz */
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if (OK != ioctl(filp, SENSORIOCSPOLLRATE, 50)) {
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warn("failed to set 2Hz poll rate");
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warn("FAILED: SENSORIOCSPOLLRATE 2Hz");
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ret = 1;
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goto out;
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}
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@ -1061,25 +1059,25 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
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/* Set to 2.5 Gauss. We ask for 3 to get the right part of
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* the chained if statement above. */
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if (OK != ioctl(filp, MAGIOCSRANGE, 3)) {
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warnx("failed to set 2.5 Ga range");
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warnx("FAILED: MAGIOCSRANGE 3.3 Ga");
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ret = 1;
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goto out;
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}
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if (OK != ioctl(filp, MAGIOCEXSTRAP, 1)) {
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warnx("failed to enable sensor calibration mode");
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warnx("FAILED: MAGIOCEXSTRAP 1");
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ret = 1;
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goto out;
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}
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if (OK != ioctl(filp, MAGIOCGSCALE, (long unsigned int)&mscale_previous)) {
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warn("WARNING: failed to get scale / offsets for mag");
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warn("FAILED: MAGIOCGSCALE 1");
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ret = 1;
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goto out;
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}
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if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_null)) {
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warn("WARNING: failed to set null scale / offsets for mag");
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warn("FAILED: MAGIOCSSCALE 1");
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ret = 1;
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goto out;
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}
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@ -1094,7 +1092,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
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ret = ::poll(&fds, 1, 2000);
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if (ret != 1) {
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warn("timed out waiting for sensor data");
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warn("ERROR: TIMEOUT 1");
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goto out;
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}
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@ -1102,7 +1100,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
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sz = ::read(fd, &report, sizeof(report));
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if (sz != sizeof(report)) {
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warn("periodic read failed");
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warn("ERROR: READ 1");
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ret = -EIO;
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goto out;
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}
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@ -1118,7 +1116,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
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ret = ::poll(&fds, 1, 2000);
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if (ret != 1) {
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warn("timed out waiting for sensor data");
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warn("ERROR: TIMEOUT 2");
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goto out;
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}
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@ -1126,7 +1124,7 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
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sz = ::read(fd, &report, sizeof(report));
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if (sz != sizeof(report)) {
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warn("periodic read failed");
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warn("ERROR: READ 2");
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ret = -EIO;
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goto out;
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}
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@ -1142,33 +1140,19 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
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sum_excited[1] += cal[1];
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sum_excited[2] += cal[2];
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}
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//warnx("periodic read %u", i);
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//warnx("measurement: %.6f %.6f %.6f", (double)report.x, (double)report.y, (double)report.z);
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//warnx("cal: %.6f %.6f %.6f", (double)cal[0], (double)cal[1], (double)cal[2]);
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}
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if (good_count < 5) {
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warn("failed calibration");
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ret = -EIO;
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goto out;
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}
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#if 0
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warnx("measurement avg: %.6f %.6f %.6f",
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(double)sum_excited[0]/good_count,
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(double)sum_excited[1]/good_count,
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(double)sum_excited[2]/good_count);
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#endif
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float scaling[3];
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scaling[0] = sum_excited[0] / good_count;
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scaling[1] = sum_excited[1] / good_count;
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scaling[2] = sum_excited[2] / good_count;
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warnx("axes scaling: %.6f %.6f %.6f", (double)scaling[0], (double)scaling[1], (double)scaling[2]);
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/* set scaling in device */
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mscale_previous.x_scale = scaling[0];
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mscale_previous.y_scale = scaling[1];
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@ -1179,29 +1163,26 @@ int HMC5883::calibrate(struct file *filp, unsigned enable)
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out:
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if (OK != ioctl(filp, MAGIOCSSCALE, (long unsigned int)&mscale_previous)) {
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warn("failed to set new scale / offsets for mag");
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warn("FAILED: MAGIOCSSCALE 2");
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}
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/* set back to normal mode */
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/* Set to 1.1 Gauss */
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if (OK != ::ioctl(fd, MAGIOCSRANGE, 1)) {
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warnx("failed to set 1.1 Ga range");
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warnx("FAILED: MAGIOCSRANGE 1.1 Ga");
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}
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if (OK != ::ioctl(fd, MAGIOCEXSTRAP, 0)) {
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warnx("failed to disable sensor calibration mode");
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warnx("FAILED: MAGIOCEXSTRAP 0");
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}
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if (ret == OK) {
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if (!check_scale()) {
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warnx("mag scale calibration successfully finished.");
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} else {
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warnx("mag scale calibration finished with invalid results.");
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if (check_scale()) {
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/* failed */
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warnx("FAILED: SCALE");
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ret = ERROR;
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}
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} else {
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warnx("mag scale calibration failed.");
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}
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return ret;
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