yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

commander: level calibration print changes

Browse Source
This commit is contained in:
Daniel Agar
2020-08-20 12:07:57 -04:00
parent ea13bf271d
commit 4dee5d6a1c
1 changed files with 11 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/modules/commander/level_calibration.cpp
View File

@@ -91,7 +91,7 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub)
pitch_mean = 0.0f;
counter = 0;
int last_progress_report = -100;
const hrt_abstime calibration_duration = 500_ms;
static constexpr hrt_abstime calibration_duration = 500_ms;
const hrt_abstime start = hrt_absolute_time();
while (hrt_elapsed_time(&start) < calibration_duration) {
@@ -153,8 +153,18 @@ int do_level_calibration(orb_advert_t *mavlink_log_pub)
calibration_log_critical(mavlink_log_pub, "excess pitch angle");
} else {
float roll_mean_degrees = math::degrees(roll_mean);
float pitch_mean_degrees = math::degrees(pitch_mean);
if (fabsf(roll_offset_current - roll_mean_degrees) > 0.1f) {
PX4_INFO("Updating SENS_BOARD_X_OFF %.1f -> %.1f degrees", (double)roll_offset_current, (double)roll_mean_degrees);
}
if (fabsf(pitch_offset_current - pitch_mean_degrees) > 0.1f) {
PX4_INFO("Updating SENS_BOARD_Y_OFF %.1f -> %.1f degrees", (double)pitch_offset_current, (double)pitch_mean_degrees);
}
param_set_no_notification(roll_offset_handle, &roll_mean_degrees);
param_set_no_notification(pitch_offset_handle, &pitch_mean_degrees);
param_notify_changes();