Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-07 01:04:19 +08:00
Code Issues Actions 13 Packages Projects Releases Wiki Activity

Minor cleanups in printing

Browse Source
This commit is contained in:
Lorenz Meier
2012-08-05 23:09:47 +02:00
parent 43a1c9edfd
commit 62e18b580c
1 changed files with 33 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/commander/commander.c
+33 -17
View File
@@ -243,14 +243,14 @@ void do_mag_calibration(void)
const int outlier_margin = (peak_samples) / 10;
int16_t *mag_maxima[3];
mag_maxima[0] = (int16_t*)calloc(peak_samples, sizeof(uint16_t));
mag_maxima[1] = (int16_t*)calloc(peak_samples, sizeof(uint16_t));
mag_maxima[2] = (int16_t*)calloc(peak_samples, sizeof(uint16_t));
mag_maxima[0] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
mag_maxima[1] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
mag_maxima[2] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
int16_t *mag_minima[3];
mag_minima[0] = (int16_t*)calloc(peak_samples, sizeof(uint16_t));
mag_minima[1] = (int16_t*)calloc(peak_samples, sizeof(uint16_t));
mag_minima[2] = (int16_t*)calloc(peak_samples, sizeof(uint16_t));
mag_minima[0] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
mag_minima[1] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
mag_minima[2] = (int16_t*)malloc(peak_samples * sizeof(uint16_t));
/* initialize data table */
for (int i = 0; i < peak_samples; i++) {
@@ -317,6 +317,33 @@ void do_mag_calibration(void)
float min_avg[3] = { 0.0f, 0.0f, 0.0f };
float max_avg[3] = { 0.0f, 0.0f, 0.0f };
printf("start:\n");
for (int i = 0; i < 10; i++) {
printf("mag min: %d\t%d\t%d\tmag max: %d\t%d\t%d\n",
mag_minima[0][i],
mag_minima[1][i],
mag_minima[2][i],
mag_maxima[0][i],
mag_maxima[1][i],
mag_maxima[2][i]);
usleep(10000);
}
printf("-----\n");
for (int i = (peak_samples - outlier_margin)-10; i < (peak_samples - outlier_margin); i++) {
printf("mag min: %d\t%d\t%d\tmag max: %d\t%d\t%d\n",
mag_minima[0][i],
mag_minima[1][i],
mag_minima[2][i],
mag_maxima[0][i],
mag_maxima[1][i],
mag_maxima[2][i]);
usleep(10000);
}
printf("end\n");
/* take average of center value group */
for (int i = 0; i < (peak_samples - outlier_margin); i++) {
min_avg[0] += mag_minima[0][i+outlier_margin];
@@ -326,17 +353,6 @@ void do_mag_calibration(void)
max_avg[0] += mag_maxima[0][i];
max_avg[1] += mag_maxima[1][i];
max_avg[2] += mag_maxima[2][i];
if (i > (peak_samples - outlier_margin)-15) {
printf("mag min: %d\t%d\t%d\tmag max: %d\t%d\t%d\n",
mag_minima[0][i+outlier_margin],
mag_minima[1][i+outlier_margin],
mag_minima[2][i+outlier_margin],
mag_maxima[0][i],
mag_maxima[1][i],
mag_maxima[2][i]);
usleep(10000);
}
}
min_avg[0] /= (peak_samples - outlier_margin);