From fa3cccc96a7bd8b3f8f91ebd02bdc3f43e7811d6 Mon Sep 17 00:00:00 2001 From: David Sidrane Date: Fri, 20 Nov 2015 02:22:40 -1000 Subject: [PATCH] Start mpu6000 driver before mpu9250 -> need to change cal code --- ROMFS/px4fmu_common/init.d/rc.sensors | 8 ++++---- src/modules/commander/gyro_calibration.cpp | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors index ad8f55c382..a7bc6b0815 100644 --- a/ROMFS/px4fmu_common/init.d/rc.sensors +++ b/ROMFS/px4fmu_common/init.d/rc.sensors @@ -79,13 +79,13 @@ else then fi - # Internal SPI bus mpu9250 is rotated 90 deg yaw - if mpu9250 -R 2 start + # Internal SPI bus ICM-20608-G is rotated 90 deg yaw + if mpu6000 -R 2 -T 20608 start then fi - # Internal SPI bus ICM-20608-G is rotated 90 deg yaw - if mpu6000 -R 2 -T 20608 start + # Internal SPI bus mpu9250 is rotated 90 deg yaw + if mpu9250 -R 2 start then fi else diff --git a/src/modules/commander/gyro_calibration.cpp b/src/modules/commander/gyro_calibration.cpp index a18a13dfa0..1fcd48b088 100644 --- a/src/modules/commander/gyro_calibration.cpp +++ b/src/modules/commander/gyro_calibration.cpp @@ -137,7 +137,7 @@ static calibrate_return gyro_calibration_worker(int cancel_sub, void* data) } for (unsigned s = 0; s < max_gyros; s++) { - if (worker_data->device_id[s] != 0 && calibration_counter[s] < calibration_count / 4) { + if (worker_data->device_id[s] != 0 && calibration_counter[s] < calibration_count / 2) { mavlink_and_console_log_critical(worker_data->mavlink_fd, "[cal] ERROR: missing data, sensor %d", s) return calibrate_return_error; }