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Mag calibration: Accept less rotation to start the UI, ensure calibration abort does indeed abort.

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Lorenz Meier
2015-05-14 17:31:05 +02:00
parent 33338ee2d0
commit e7c3032218
1 changed files with 3 additions and 2 deletions
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src/modules/commander/mag_calibration.cpp
+3 -2
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@@ -209,7 +209,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
float gyro_y_integral = 0.0f; float gyro_y_integral = 0.0f;
float gyro_z_integral = 0.0f; float gyro_z_integral = 0.0f;
const float gyro_int_thresh_rad = 1.0f; const float gyro_int_thresh_rad = 0.5f;
int sub_gyro = orb_subscribe(ORB_ID(sensor_gyro)); int sub_gyro = orb_subscribe(ORB_ID(sensor_gyro));
@@ -220,7 +220,8 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
/* abort on request */ /* abort on request */
if (calibrate_cancel_check(worker_data->mavlink_fd, cancel_sub)) { if (calibrate_cancel_check(worker_data->mavlink_fd, cancel_sub)) {
result = calibrate_return_cancelled; result = calibrate_return_cancelled;
break; close(sub_gyro);
return result;
} }
/* abort with timeout */ /* abort with timeout */