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Robustified accel cal

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Lorenz Meier
2013-07-18 14:24:32 +02:00
parent 8d1abf4aa4
commit a5c8d8c5f2
1 changed files with 9 additions and 4 deletions
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src/modules/commander/accelerometer_calibration.c
+9 -4
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@@ -283,6 +283,9 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
hrt_abstime t = t_start; hrt_abstime t = t_start;
hrt_abstime t_prev = t_start; hrt_abstime t_prev = t_start;
hrt_abstime t_still = 0; hrt_abstime t_still = 0;
unsigned poll_errcount = 0;
while (true) { while (true) {
/* wait blocking for new data */ /* wait blocking for new data */
int poll_ret = poll(fds, 1, 1000); int poll_ret = poll(fds, 1, 1000);
@@ -327,12 +330,14 @@ int detect_orientation(int mavlink_fd, int sub_sensor_combined) {
} }
} }
} else if (poll_ret == 0) { } else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */ poll_errcount++;
mavlink_log_info(mavlink_fd, "ERROR: poll failure");
return -3;
} }
if (t > t_timeout) { if (t > t_timeout) {
mavlink_log_info(mavlink_fd, "ERROR: timeout"); poll_errcount++;
}
if (poll_errcount > 1000) {
mavlink_log_info(mavlink_fd, "ERROR: failed reading accel");
return -1; return -1;
} }
} }