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mag detection (sensors / commander): Default all sensors to internal, set the ones which have been found explicitely to zero if they were -1.

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Lorenz Meier
2015-02-28 04:01:10 +01:00
parent 81648f84cd
commit e4830eb53f
3 changed files with 14 additions and 7 deletions
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src/modules/commander/state_machine_helper.cpp
+2 -2
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -35,7 +35,7 @@
* @file state_machine_helper.cpp
* State machine helper functions implementations
*
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Thomas Gubler <thomas@px4.io>
* @author Julian Oes <julian@oes.ch>
*/
src/modules/sensors/sensor_params.c
+3 -3
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@@ -130,7 +130,7 @@ PARAM_DEFINE_INT32(CAL_MAG0_ID, 0);
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG0_ROT, 0);
PARAM_DEFINE_INT32(CAL_MAG0_ROT, -1);
/**
* Magnetometer X-axis offset
@@ -308,7 +308,7 @@ PARAM_DEFINE_INT32(CAL_MAG1_ID, 0);
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG1_ROT, 0);
PARAM_DEFINE_INT32(CAL_MAG1_ROT, -1);
/**
* Magnetometer X-axis offset
@@ -486,7 +486,7 @@ PARAM_DEFINE_INT32(CAL_MAG2_ID, 0);
* @max 30
* @group Sensor Calibration
*/
PARAM_DEFINE_INT32(CAL_MAG2_ROT, 0);
PARAM_DEFINE_INT32(CAL_MAG2_ROT, -1);
/**
* Magnetometer X-axis offset
src/modules/sensors/sensors.cpp
+9 -2
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@@ -1511,14 +1511,21 @@ Sensors::parameter_update_poll(bool forced)
if (ioctl(fd, MAGIOCGEXTERNAL, 0) <= 0) {
/* mag is internal */
_mag_rotation[s] = _board_rotation;
/* reset param to -1 to indicate external mag */
/* reset param to -1 to indicate internal mag */
int32_t minus_one = MAG_ROT_VAL_INTERNAL;
param_set_no_notification(param_find(str), &minus_one);
} else {
int32_t mag_rot = 0;
int32_t mag_rot;
param_get(param_find(str), &mag_rot);
/* check if this mag is still set as internal */
if (mag_rot < 0) {
/* it was marked as internal, change to external with no rotation */
mag_rot = 0;
param_set_no_notification(param_find(str), &mag_rot);
}
/* handling of old setups, will be removed later (noted Feb 2015) */
int32_t deprecated_mag_rot = 0;
param_get(param_find("SENS_EXT_MAG_ROT"), &deprecated_mag_rot);