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Hotfix: Disable gyro scale calibration to prevent people from wrongly using it

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Lorenz Meier
2013-09-18 08:43:38 +02:00
parent a4ecdc9582
commit ac00100cb8
1 changed files with 8 additions and 4 deletions
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src/modules/commander/gyro_calibration.cpp
+8 -4
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@@ -163,7 +163,9 @@ int do_gyro_calibration(int mavlink_fd)
return ERROR; return ERROR;
} }
mavlink_log_info(mavlink_fd, "offset calibration done.");
#if 0
/*** --- SCALING --- ***/ /*** --- SCALING --- ***/
mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s to skip."); mavlink_log_info(mavlink_fd, "offset done. Rotate for scale 30x or wait 5s to skip.");
@@ -241,9 +243,14 @@ int do_gyro_calibration(int mavlink_fd)
} }
float gyro_scale = baseline_integral / gyro_integral; float gyro_scale = baseline_integral / gyro_integral;
float gyro_scales[] = { gyro_scale, gyro_scale, gyro_scale };
warnx("gyro scale: yaw (z): %6.4f", (double)gyro_scale); warnx("gyro scale: yaw (z): %6.4f", (double)gyro_scale);
mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", (double)gyro_scale); mavlink_log_info(mavlink_fd, "gyro scale: yaw (z): %6.4f", (double)gyro_scale);
#else
float gyro_scales[] = { 1.0f, 1.0f, 1.0f };
#endif
if (isfinite(gyro_scales[0]) && isfinite(gyro_scales[1]) && isfinite(gyro_scales[2])) { if (isfinite(gyro_scales[0]) && isfinite(gyro_scales[1]) && isfinite(gyro_scales[2])) {
@@ -277,9 +284,6 @@ int do_gyro_calibration(int mavlink_fd)
warn("WARNING: auto-save of params to storage failed"); warn("WARNING: auto-save of params to storage failed");
} }
// char buf[50];
// sprintf(buf, "cal: x:%8.4f y:%8.4f z:%8.4f", (double)gyro_offset[0], (double)gyro_offset[1], (double)gyro_offset[2]);
// mavlink_log_info(mavlink_fd, buf);
mavlink_log_info(mavlink_fd, "gyro calibration done"); mavlink_log_info(mavlink_fd, "gyro calibration done");
/* third beep by cal end routine */ /* third beep by cal end routine */