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temperature_calibration: exit task when complete, set TC_G_ENABLE & use param_set_no_notification

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This commit is contained in:
Beat Küng
2017-01-26 16:49:52 +01:00
committed by Lorenz Meier
parent 4a8d29800c
commit b5b6fb24e3
1 changed files with 37 additions and 22 deletions
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src/modules/events/temperature_calibration.cpp
+37 -22
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@@ -144,6 +144,8 @@ void Tempcal::task_main()
unsigned num_gyro = orb_group_count(ORB_ID(sensor_gyro));
unsigned num_samples[SENSOR_COUNT_MAX] = {0};
uint32_t device_ids[SENSOR_COUNT_MAX] = {};
int result;
int num_completed = 0; // number of completed gyros
if (num_gyro > SENSOR_COUNT_MAX) {
num_gyro = SENSOR_COUNT_MAX;
@@ -251,13 +253,13 @@ void Tempcal::task_main()
PX4_WARN("Result Gyro %d Axis 2: %.20f %.20f %.20f %.20f", i, (double)res[2][0], (double)res[2][1], (double)res[2][2],
(double)res[2][3]);
_tempcal_complete[i] = true;
++num_completed;
char str[30];
float param = 0.0f;
int result = PX4_OK;
sprintf(str, "TC_G%d_ID", i);
result = param_set(param_find(str), &device_ids[i]);
result = param_set_no_notification(param_find(str), &device_ids[i]);
if (result != PX4_OK) {
PX4_ERR("unable to reset %s", str);
@@ -267,41 +269,54 @@ void Tempcal::task_main()
for (unsigned m = 0; m <= 3; m++) {
sprintf(str, "TC_G%d_X%d_%d", i, m, j);
param = (float)res[j][m];
result = param_set(param_find(str), &param);
result = param_set_no_notification(param_find(str), &param);
if (result != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
}
sprintf(str, "TC_G%d_TMAX", i);
param = _high_temp[i];
result = param_set(param_find(str), &param);
}
if (result != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
sprintf(str, "TC_G%d_TMAX", i);
param = _high_temp[i];
result = param_set_no_notification(param_find(str), &param);
sprintf(str, "TC_G%d_TMIN", i);
param = _low_temp[i];
result = param_set(param_find(str), &param);
if (result != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
if (result != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
sprintf(str, "TC_G%d_TMIN", i);
param = _low_temp[i];
result = param_set_no_notification(param_find(str), &param);
sprintf(str, "TC_G%d_TREF", i);
param = _ref_temp[i];
result = param_set(param_find(str), &param);
if (result != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
if (result != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
sprintf(str, "TC_G%d_TREF", i);
param = _ref_temp[i];
result = param_set_no_notification(param_find(str), &param);
if (result != PX4_OK) {
PX4_ERR("unable to reset %s", str);
}
}
}
if (num_completed == num_gyro) {
/* all gyros are done */
int32_t enabled = 1;
result = param_set(param_find("TC_G_ENABLE"), &enabled);
if (result != PX4_OK) {
PX4_ERR("unable to reset TC_G_ENABLE");
}
break;
}
}
for (unsigned i = 0; i < num_gyro; i++) {
@@ -310,7 +325,7 @@ void Tempcal::task_main()
delete tempcal::instance;
tempcal::instance = nullptr;
PX4_INFO("Tempcal process stopped");
PX4_INFO("Tempcal process exited");
}
void Tempcal::do_temperature_calibration(int argc, char *argv[])