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commander: accel calibration use all queued data

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- print each calibration when finished
This commit is contained in:
Daniel Agar
2020-08-17 16:23:02 -04:00
parent f9aca05ede
commit bc6e4c8a92
1 changed files with 4 additions and 3 deletions
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7
src/modules/commander/accelerometer_calibration.cpp
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@@ -183,7 +183,7 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
for (unsigned accel_index = 0; accel_index < MAX_ACCEL_SENS; accel_index++) { for (unsigned accel_index = 0; accel_index < MAX_ACCEL_SENS; accel_index++) {
sensor_accel_s arp; sensor_accel_s arp;
if (accel_sub[accel_index].update(&arp)) { while (accel_sub[accel_index].update(&arp)) {
// fetch optional thermal offset corrections in sensor/board frame // fetch optional thermal offset corrections in sensor/board frame
Vector3f offset{0, 0, 0}; Vector3f offset{0, 0, 0};
sensor_correction_sub.update(&sensor_correction); sensor_correction_sub.update(&sensor_correction);
@@ -229,8 +229,8 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
} }
for (unsigned s = 0; s < MAX_ACCEL_SENS; s++) { for (unsigned s = 0; s < MAX_ACCEL_SENS; s++) {
const auto sum = accel_sum[s] / counts[s]; const Vector3f avg{accel_sum[s] / counts[s]};
sum.copyTo(accel_avg[s][orient]); avg.copyTo(accel_avg[s][orient]);
} }
return calibrate_return_ok; return calibrate_return_ok;
@@ -349,6 +349,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
PX4_INFO("accel %d: bT * accel_T * b", i); PX4_INFO("accel %d: bT * accel_T * b", i);
accel_T_rotated.print(); accel_T_rotated.print();
#endif // DEBUD_BUILD #endif // DEBUD_BUILD
calibrations[i].PrintStatus();
} }
// save all calibrations including empty slots // save all calibrations including empty slots