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temperature_calibration: refactor to separate code & reduce code duplication

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This commit is contained in:
Beat Küng
2017-02-02 20:11:28 +01:00
committed by Lorenz Meier
parent b6f3cf9425
commit c4a8aa9c68
11 changed files with 1122 additions and 1013 deletions
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15
src/modules/events/send_event.cpp
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@@ -120,27 +120,32 @@ void SendEvent::process_commands()
orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
bool got_temperature_calibration_command = false;
bool got_temperature_calibration_command = false, accel = false, baro = false, gyro = false;
switch (cmd.command) {
case vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION:
if ((int)(cmd.param1) == 2) { //TODO: this (and the others) needs to be specified in mavlink...
run_temperature_gyro_calibration();
gyro = true;
got_temperature_calibration_command = true;
}
if ((int)(cmd.param5) == 2) {
run_temperature_accel_calibration();
accel = true;
got_temperature_calibration_command = true;
}
if ((int)(cmd.param7) == 2) {
run_temperature_baro_calibration();
baro = true;
got_temperature_calibration_command = true;
}
if (got_temperature_calibration_command) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
if (run_temperature_calibration(accel, baro, gyro) == 0) {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
} else {
answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_FAILED);
}
}
break;