From 4824a4e8ac93d992e1401f768291cca65ba46acc Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 12 Jul 2014 22:18:59 +0200 Subject: [PATCH] Fix for dynamic / static part of calibration --- .../commander/airspeed_calibration.cpp | 19 +++---------------- 1 file changed, 3 insertions(+), 16 deletions(-) diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp index 529a5b32f5..01db34be25 100644 --- a/src/modules/commander/airspeed_calibration.cpp +++ b/src/modules/commander/airspeed_calibration.cpp @@ -121,19 +121,6 @@ int do_airspeed_calibration(int mavlink_fd) if (poll_ret) { orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres); - if (calc_indicated_airspeed(fabsf(diff_pres.differential_pressure_raw_pa)) < 10.0f) { - mavlink_log_critical(mavlink_fd, "Put a finger on front hole of pitot"); - usleep(5000 * 1000); - continue; - } - - /* do not log negative values in the second go */ - if ((diff_pres_offset / calibration_counter) < calc_indicated_airspeed(-5.0f)) { - mavlink_log_critical(mavlink_fd, "Negative val: swap static<->dynamic ports,restart"); - close(diff_pres_sub); - return ERROR; - } - diff_pres_offset += diff_pres.differential_pressure_raw_pa; calibration_counter++; @@ -197,16 +184,16 @@ int do_airspeed_calibration(int mavlink_fd) diff_pres_offset += diff_pres.differential_pressure_raw_pa; calibration_counter++; - float curr_avg = (diff_pres_offset / calibration_counter); + float curr_avg_airspeed = calc_indicated_airspeed(diff_pres_offset / calibration_counter); - if (calc_indicated_airspeed(fabsf(curr_avg)) < 10.0f) { + if (fabsf(curr_avg) < 10.0f) { mavlink_log_critical(mavlink_fd, "Put a finger on front hole of pitot (%.1f m/s)", (double)curr_avg); usleep(5000 * 1000); continue; } /* do not log negative values in the second go */ - if (curr_avg < -calc_indicated_airspeed(5.0f)) { + if (curr_avg_airspeed < -calc_indicated_airspeed(5.0f)) { mavlink_log_critical(mavlink_fd, "Negative val: swap static<->dynamic ports,restart"); close(diff_pres_sub);