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Start mpu6000 driver before mpu9250 -> need to change cal code

This commit is contained in:
David Sidrane 2015-11-20 02:22:40 -10:00 committed by Lorenz Meier
parent a631a595e5
commit fa3cccc96a
2 changed files with 5 additions and 5 deletions
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8
ROMFS/px4fmu_common/init.d/rc.sensors
View File

@ -79,13 +79,13 @@ else
then
fi
# Internal SPI bus mpu9250 is rotated 90 deg yaw
if mpu9250 -R 2 start
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
if mpu6000 -R 2 -T 20608 start
then
fi
# Internal SPI bus ICM-20608-G is rotated 90 deg yaw
if mpu6000 -R 2 -T 20608 start
# Internal SPI bus mpu9250 is rotated 90 deg yaw
if mpu9250 -R 2 start
then
fi
else

2
src/modules/commander/gyro_calibration.cpp
View File

@ -137,7 +137,7 @@ static calibrate_return gyro_calibration_worker(int cancel_sub, void* data)
}
for (unsigned s = 0; s < max_gyros; s++) {
if (worker_data->device_id[s] != 0 && calibration_counter[s] < calibration_count / 4) {
if (worker_data->device_id[s] != 0 && calibration_counter[s] < calibration_count / 2) {
mavlink_and_console_log_critical(worker_data->mavlink_fd, "[cal] ERROR: missing data, sensor %d", s)
return calibrate_return_error;
}