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mag cal, scaling of throttle

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Lorenz Meier
2012-08-16 13:33:16 +02:00
parent b30e443f28
commit e95662f505
3 changed files with 8 additions and 8 deletions
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10
apps/commander/commander.c
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@@ -306,8 +306,8 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
calibration_counter++;
} else {
/* any poll failure for 1s is a reason to abort */
mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry.");
break;
//mavlink_log_info(mavlink_fd, "[commander] mag calibration aborted, please retry.");
//break;
}
}
@@ -376,9 +376,9 @@ void do_mag_calibration(int status_pub, struct vehicle_status_s *status)
printf("\nFINAL:\nmag min: %d\t%d\t%d\nmag max: %d\t%d\t%d\n", (int)min_avg[0], (int)min_avg[1], (int)min_avg[2], (int)max_avg[0], (int)max_avg[1], (int)max_avg[2]);
float mag_offset[3];
mag_offset[0] = (max_avg[0] - min_avg[0])/2;
mag_offset[1] = (max_avg[1] - min_avg[1])/2;
mag_offset[2] = (max_avg[2] - min_avg[2])/2;
mag_offset[0] = (max_avg[0] - min_avg[0]);
mag_offset[1] = (max_avg[1] - min_avg[1]);
mag_offset[2] = (max_avg[2] - min_avg[2]);
global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_XOFFSET] = mag_offset[0];
global_data_parameter_storage->pm.param_values[PARAM_SENSOR_MAG_YOFFSET] = mag_offset[1];