Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-07 09:13:32 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

Commander: Use indexed sensor names in calibration routines

Browse Source
This commit is contained in:
Lorenz Meier
2015-02-01 18:24:13 +01:00
parent e6a7dc7a3f
commit 19cd496157
3 changed files with 32 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/accelerometer_calibration.cpp
+8 -8
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -221,17 +221,17 @@ int do_accel_calibration(int mavlink_fd)
accel_scale.z_scale = accel_T_rotated(2, 2);
/* set parameters */
if (param_set(param_find("SENS_ACC_XOFF"), &(accel_scale.x_offset))
|| param_set(param_find("SENS_ACC_YOFF"), &(accel_scale.y_offset))
|| param_set(param_find("SENS_ACC_ZOFF"), &(accel_scale.z_offset))
|| param_set(param_find("SENS_ACC_XSCALE"), &(accel_scale.x_scale))
|| param_set(param_find("SENS_ACC_YSCALE"), &(accel_scale.y_scale))
|| param_set(param_find("SENS_ACC_ZSCALE"), &(accel_scale.z_scale))) {
if (param_set(param_find("CAL_ACC0_XOFF"), &(accel_scale.x_offset))
|| param_set(param_find("CAL_ACC0_YOFF"), &(accel_scale.y_offset))
|| param_set(param_find("CAL_ACC0_ZOFF"), &(accel_scale.z_offset))
|| param_set(param_find("CAL_ACC0_XSCALE"), &(accel_scale.x_scale))
|| param_set(param_find("CAL_ACC0_YSCALE"), &(accel_scale.y_scale))
|| param_set(param_find("CAL_ACC0_ZSCALE"), &(accel_scale.z_scale))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
res = ERROR;
}
if (param_set(param_find("SENS_ACC_ID"), &(device_id))) {
if (param_set(param_find("CAL_ACC0_ID"), &(device_id))) {
res = ERROR;
}
}
src/modules/commander/gyro_calibration.cpp
+16 -8
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -51,6 +51,7 @@
#include <mavlink/mavlink_log.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <systemlib/mcu_version.h>
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
@@ -80,6 +81,13 @@ int do_gyro_calibration(int mavlink_fd)
int res = OK;
/* store board ID */
uint32_t mcu_id[3];
mcu_unique_id(&mcu_id[0]);
/* store last 32bit number - not unique, but unique in a given set */
param_set(param_find("CAL_BOARD_ID"), &mcu_id[2]);
/* reset all offsets to zero and all scales to one */
int fd = open(GYRO_DEVICE_PATH, 0);
@@ -149,9 +157,9 @@ int do_gyro_calibration(int mavlink_fd)
if (res == OK) {
/* set offset parameters to new values */
if (param_set(param_find("SENS_GYRO_XOFF"), &(gyro_scale.x_offset))
|| param_set(param_find("SENS_GYRO_YOFF"), &(gyro_scale.y_offset))
|| param_set(param_find("SENS_GYRO_ZOFF"), &(gyro_scale.z_offset))) {
if (param_set(param_find("CAL_GYRO0_XOFF"), &(gyro_scale.x_offset))
|| param_set(param_find("CAL_GYRO0_YOFF"), &(gyro_scale.y_offset))
|| param_set(param_find("CAL_GYRO0_ZOFF"), &(gyro_scale.z_offset))) {
mavlink_log_critical(mavlink_fd, "ERROR: failed to set offset params");
res = ERROR;
}
@@ -275,13 +283,13 @@ int do_gyro_calibration(int mavlink_fd)
if (res == OK) {
/* set scale parameters to new values */
if (param_set(param_find("SENS_GYRO_XSCALE"), &(gyro_scale.x_scale))
|| param_set(param_find("SENS_GYRO_YSCALE"), &(gyro_scale.y_scale))
|| param_set(param_find("SENS_GYRO_ZSCALE"), &(gyro_scale.z_scale))) {
if (param_set(param_find("CAL_GYRO0_XSCALE"), &(gyro_scale.x_scale))
|| param_set(param_find("CAL_GYRO0_YSCALE"), &(gyro_scale.y_scale))
|| param_set(param_find("CAL_GYRO0_ZSCALE"), &(gyro_scale.z_scale))) {
mavlink_log_critical(mavlink_fd, "ERROR: failed to set scale params");
res = ERROR;
}
if (param_set(param_find("SENS_GYRO_ID"), &(device_id))) {
if (param_set(param_find("CAL_GYRO0_ID"), &(device_id))) {
res = ERROR;
}
}
src/modules/commander/mag_calibration.cpp
+8 -8
View File
@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -263,30 +263,30 @@ int do_mag_calibration(int mavlink_fd)
if (res == OK) {
/* set parameters */
if (param_set(param_find("SENS_MAG_ID"), &(device_id))) {
if (param_set(param_find("CAL_MAG0_ID"), &(device_id))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_XOFF"), &(mscale.x_offset))) {
if (param_set(param_find("CAL_MAG0_XOFF"), &(mscale.x_offset))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_YOFF"), &(mscale.y_offset))) {
if (param_set(param_find("CAL_MAG0_YOFF"), &(mscale.y_offset))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_ZOFF"), &(mscale.z_offset))) {
if (param_set(param_find("CAL_MAG0_ZOFF"), &(mscale.z_offset))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_XSCALE"), &(mscale.x_scale))) {
if (param_set(param_find("CAL_MAG0_XSCALE"), &(mscale.x_scale))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_YSCALE"), &(mscale.y_scale))) {
if (param_set(param_find("CAL_MAG0_YSCALE"), &(mscale.y_scale))) {
res = ERROR;
}
if (param_set(param_find("SENS_MAG_ZSCALE"), &(mscale.z_scale))) {
if (param_set(param_find("CAL_MAG0_ZSCALE"), &(mscale.z_scale))) {
res = ERROR;
}