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Build fix and airspeed console cal
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@LorenzMeier
LorenzMeier committed Nov 17, 2015
1 parent 0509a5a commit 092a514
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Showing 3 changed files with 23 additions and 21 deletions.
40 changes: 20 additions & 20 deletions src/modules/commander/airspeed_calibration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ static const char *sensor_name = "dpress";
static void feedback_calibration_failed(int mavlink_fd)
{
sleep(5);
mavlink_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, sensor_name);
mavlink_and_console_log_critical(mavlink_fd, CAL_QGC_FAILED_MSG, sensor_name);
}

int do_airspeed_calibration(int mavlink_fd)
Expand All @@ -78,7 +78,7 @@ int do_airspeed_calibration(int mavlink_fd)
const unsigned maxcount = 2400;

/* give directions */
mavlink_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);

const unsigned calibration_count = (maxcount * 2) / 3;

Expand All @@ -101,7 +101,7 @@ int do_airspeed_calibration(int mavlink_fd)
paramreset_successful = true;

} else {
mavlink_log_critical(mavlink_fd, "[cal] airspeed offset zero failed");
mavlink_and_console_log_critical(mavlink_fd, "[cal] airspeed offset zero failed");
}

px4_close(fd);
Expand All @@ -115,18 +115,18 @@ int do_airspeed_calibration(int mavlink_fd)
float analog_scaling = 0.0f;
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
if (fabsf(analog_scaling) < 0.1f) {
mavlink_log_critical(mavlink_fd, "[cal] No airspeed sensor, see http://px4.io/help/aspd");
mavlink_and_console_log_critical(mavlink_fd, "[cal] No airspeed sensor, see http://px4.io/help/aspd");
goto error_return;
}

/* set scaling offset parameter */
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG);
mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG, 1);
goto error_return;
}
}

mavlink_log_critical(mavlink_fd, "[cal] Ensure sensor is not measuring wind");
mavlink_and_console_log_critical(mavlink_fd, "[cal] Ensure sensor is not measuring wind");
usleep(500 * 1000);

while (calibration_counter < calibration_count) {
Expand All @@ -149,7 +149,7 @@ int do_airspeed_calibration(int mavlink_fd)
calibration_counter++;

if (calibration_counter % (calibration_count / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, (calibration_counter * 80) / calibration_count);
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, (calibration_counter * 80) / calibration_count);
}

} else if (poll_ret == 0) {
Expand All @@ -167,14 +167,14 @@ int do_airspeed_calibration(int mavlink_fd)
airscale.offset_pa = diff_pres_offset;
if (fd_scale > 0) {
if (OK != px4_ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
mavlink_log_critical(mavlink_fd, "[cal] airspeed offset update failed");
mavlink_and_console_log_critical(mavlink_fd, "[cal] airspeed offset update failed");
}

px4_close(fd_scale);
}

if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG);
mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG, 1);
goto error_return;
}

Expand All @@ -183,7 +183,7 @@ int do_airspeed_calibration(int mavlink_fd)

if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
mavlink_log_critical(mavlink_fd, CAL_ERROR_SAVE_PARAMS_MSG);
mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_SAVE_PARAMS_MSG);
goto error_return;
}

Expand All @@ -192,12 +192,12 @@ int do_airspeed_calibration(int mavlink_fd)
goto error_return;
}

mavlink_log_critical(mavlink_fd, "[cal] Offset of %d Pascal", (int)diff_pres_offset);
mavlink_and_console_log_critical(mavlink_fd, "[cal] Offset of %d Pascal", (int)diff_pres_offset);

/* wait 500 ms to ensure parameter propagated through the system */
usleep(500 * 1000);

mavlink_log_critical(mavlink_fd, "[cal] Create airflow now");
mavlink_and_console_log_critical(mavlink_fd, "[cal] Create airflow now");

calibration_counter = 0;

Expand All @@ -222,34 +222,34 @@ int do_airspeed_calibration(int mavlink_fd)

if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (calibration_counter % 500 == 0) {
mavlink_log_info(mavlink_fd, "[cal] Create air pressure! (got %d, wanted: 50 Pa)",
mavlink_and_console_log_info(mavlink_fd, "[cal] Create air pressure! (got %d, wanted: 50 Pa)",
(int)diff_pres.differential_pressure_raw_pa);
}
continue;
}

/* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_info(mavlink_fd, "[cal] Negative pressure difference detected (%d Pa)",
mavlink_and_console_log_info(mavlink_fd, "[cal] Negative pressure difference detected (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
mavlink_log_info(mavlink_fd, "[cal] Swap static and dynamic ports!");
mavlink_and_console_log_info(mavlink_fd, "[cal] Swap static and dynamic ports!");

/* the user setup is wrong, wipe the calibration to force a proper re-calibration */

diff_pres_offset = 0.0f;
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG);
mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG, 1);
goto error_return;
}

/* save */
mavlink_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 0);
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 0);
(void)param_save_default();

feedback_calibration_failed(mavlink_fd);
goto error_return;
} else {
mavlink_log_info(mavlink_fd, "[cal] Positive pressure: OK (%d Pa)",
mavlink_and_console_log_info(mavlink_fd, "[cal] Positive pressure: OK (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
break;
}
Expand All @@ -266,9 +266,9 @@ int do_airspeed_calibration(int mavlink_fd)
goto error_return;
}

mavlink_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 100);
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_PROGRESS_MSG, 100);

mavlink_log_info(mavlink_fd, CAL_QGC_DONE_MSG, sensor_name);
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_DONE_MSG, sensor_name);
tune_neutral(true);

normal_return:
Expand Down
2 changes: 2 additions & 0 deletions src/modules/commander/commander.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -362,6 +362,8 @@ int commander_main(int argc, char *argv[])
calib_ret = do_level_calibration(mavlink_fd);
} else if (!strcmp(argv[2], "esc")) {
calib_ret = do_esc_calibration(mavlink_fd, &armed);
} else if (!strcmp(argv[2], "airspeed")) {
calib_ret = do_airspeed_calibration(mavlink_fd);
} else {
warnx("argument %s unsupported.", argv[2]);
}
Expand Down
2 changes: 1 addition & 1 deletion src/modules/commander/state_machine_helper.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -753,7 +753,7 @@ int preflight_check(const struct vehicle_status_s *status, const int mavlink_fd,
bool checkAirspeed = false;
/* Perform airspeed check only if circuit breaker is not
* engaged and it's not a rotary wing */
if (!status->circuit_breaker_engaged_airspd_check && (!status->is_rotary_wing || status->is_vtol) {
if (!status->circuit_breaker_engaged_airspd_check && (!status->is_rotary_wing || status->is_vtol)) {
checkAirspeed = true;
}

Expand Down

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