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commander : warn if more than 4 mags are connected

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This commit is contained in:
Mohammed Kabir
2017-04-18 12:45:39 +02:00
committed by Kabir Mohammed
parent 6d21aac4a9
commit 9909a373b0
1 changed files with 6 additions and 1 deletions
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7
src/modules/commander/mag_calibration.cpp
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@@ -565,7 +565,12 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub)
// We should not try to subscribe if the topic doesn't actually exist and can be counted. // We should not try to subscribe if the topic doesn't actually exist and can be counted.
const unsigned mag_count = orb_group_count(ORB_ID(sensor_mag)); const unsigned mag_count = orb_group_count(ORB_ID(sensor_mag));
for (unsigned cur_mag = 0; cur_mag < mag_count; cur_mag++) { // Warn that we will not calibrate more than max_mags magnetometers
if (mag_count > max_mags) {
calibration_log_critical(mavlink_log_pub, "[cal] Detected %u mags, but will calibrate only %u", mag_count, max_mags);
}
for (unsigned cur_mag = 0; cur_mag < mag_count && cur_mag < max_mags; cur_mag++) {
// Mag in this slot is available // Mag in this slot is available
worker_data.sub_mag[cur_mag] = orb_subscribe_multi(ORB_ID(sensor_mag), cur_mag); worker_data.sub_mag[cur_mag] = orb_subscribe_multi(ORB_ID(sensor_mag), cur_mag);