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Commander: updated mag calibration routine, matlab script updates

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Lorenz Meier
2015-06-25 13:20:43 +02:00
parent 338404b4b3
commit c402d0c2f7
2 changed files with 27 additions and 13 deletions
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src/modules/commander/calibration_routines.cpp
+3 -3
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@@ -243,7 +243,7 @@ enum detect_orientation_return detect_orientation(int mavlink_fd, int cancel_sub
const float normal_still_thr = 0.25; // normal still threshold
float still_thr2 = powf(lenient_still_position ? (normal_still_thr * 3) : normal_still_thr, 2);
float accel_err_thr = 5.0f; // set accel error threshold to 5m/s^2
hrt_abstime still_time = lenient_still_position ? 1000000 : 1500000; // still time required in us
hrt_abstime still_time = lenient_still_position ? 500000 : 1300000; // still time required in us
struct pollfd fds[1];
fds[0].fd = accel_sub;
@@ -324,7 +324,7 @@ enum detect_orientation_return detect_orientation(int mavlink_fd, int cancel_sub
/* not still, reset still start time */
if (t_still != 0) {
mavlink_and_console_log_info(mavlink_fd, "[cal] detected motion, hold still...");
usleep(500000);
usleep(200000);
t_still = 0;
}
}
@@ -488,7 +488,7 @@ calibrate_return calibrate_from_orientation(int mavlink_fd,
// Note that this side is complete
side_data_collected[orient] = true;
tune_neutral(true);
usleep(500000);
usleep(200000);
}
if (sub_accel >= 0) {