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[ardrone] Cleanup and possible fix for occasional magneto freeze problem

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This commit is contained in:
Christophe De Wagter
2014-01-22 17:49:15 +01:00
parent d289a1d287
commit 3bf8f827a3
1 changed files with 10 additions and 5 deletions
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sw/airborne/boards/ardrone/navdata.c
+10 -5
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@@ -169,15 +169,14 @@ bool_t navdata_init()
uint8_t cmd=0x02; uint8_t cmd=0x02;
navdata_write(&cmd, 1); navdata_write(&cmd, 1);
// read some potential dirt (retry alot of times) // read some potential dirt
// wait 10 milliseconds
char tmp[100]; char tmp[100];
for(int i = 0; i < 100; i++) { for(int i = 0; i < 12; i++) {
uint16_t dirt = read(nav_fd, tmp, sizeof tmp); uint16_t dirt = read(nav_fd, tmp, sizeof tmp);
(void) dirt; (void) dirt;
cmd=0x02; usleep(1000);
navdata_write(&cmd, 1);
usleep(200);
} }
baro_calibrated = FALSE; baro_calibrated = FALSE;
@@ -213,6 +212,12 @@ static inline bool_t acquire_baro_calibration(void)
uint8_t cmd=0x17; // send cmd 23 uint8_t cmd=0x17; // send cmd 23
navdata_write(&cmd, 1); navdata_write(&cmd, 1);
// wait 20ms to retrieve data
for (int i=0;i<22;i++)
{
usleep(1000);
}
uint8_t calibBuffer[22]; uint8_t calibBuffer[22];
if (full_read(nav_fd, calibBuffer, sizeof calibBuffer) < 0) if (full_read(nav_fd, calibBuffer, sizeof calibBuffer) < 0)