yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 09:28:58 +00:00
Code Issues Packages Projects Releases Wiki Activity

Code cleanup and ifdefs required for qurt build

Browse Source 
Code that was previously out of tree that was #if 0, is now #ifdef __PX4_QURT.
These changes were required for flight using the qurt build.

Changes include code cleanup for shmem_posix.c.

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2016-01-21 20:41:42 -08:00
committed by Julian Oes
parent 8634452d6d
commit fea910d45a
5 changed files with 87 additions and 44 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/modules/commander/accelerometer_calibration.cpp
View File

@@ -175,7 +175,9 @@ typedef struct {
int do_accel_calibration(int mavlink_fd)
{
#ifndef __PX4_QURT
int fd;
#endif
mavlink_and_console_log_info(mavlink_fd, CAL_QGC_STARTED_MSG, sensor_name);
@@ -192,6 +194,7 @@ int do_accel_calibration(int mavlink_fd)
char str[30];
#ifndef __PX4_QURT
/* reset all sensors */
for (unsigned s = 0; s < max_accel_sens; s++) {
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, s);
@@ -211,6 +214,7 @@ int do_accel_calibration(int mavlink_fd)
mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_RESET_CAL_MSG, s);
}
}
#endif
float accel_offs[max_accel_sens][3];
float accel_T[max_accel_sens][3][3];
@@ -277,14 +281,17 @@ int do_accel_calibration(int mavlink_fd)
failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.y_scale)));
(void)sprintf(str, "CAL_ACC%u_ZSCALE", i);
failed |= (OK != param_set_no_notification(param_find(str), &(accel_scale.z_scale)));
#ifndef __PX4_QURT
(void)sprintf(str, "CAL_ACC%u_ID", i);
failed |= (OK != param_set_no_notification(param_find(str), &(device_id[i])));
#endif
if (failed) {
mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_SET_PARAMS_MSG, i);
return ERROR;
}
#ifndef __PX4_QURT
sprintf(str, "%s%u", ACCEL_BASE_DEVICE_PATH, i);
fd = px4_open(str, 0);
@@ -299,6 +306,7 @@ int do_accel_calibration(int mavlink_fd)
if (res != OK) {
mavlink_and_console_log_critical(mavlink_fd, CAL_ERROR_APPLY_CAL_MSG, i);
}
#endif
}
if (res == OK) {