Skip to content
Projects
Groups
Snippets
Help
Loading...
Help
Support
Submit feedback
Contribute to GitLab
Sign in
Toggle navigation
Q
qgroundcontrol
Project
Project
Details
Activity
Releases
Cycle Analytics
Repository
Repository
Files
Commits
Branches
Tags
Contributors
Graph
Compare
Charts
Issues
0
Issues
0
List
Boards
Labels
Milestones
Merge Requests
0
Merge Requests
0
CI / CD
CI / CD
Pipelines
Jobs
Schedules
Charts
Wiki
Wiki
Snippets
Snippets
Members
Members
Collapse sidebar
Close sidebar
Activity
Graph
Charts
Create a new issue
Jobs
Commits
Issue Boards
Open sidebar
Valentin Platzgummer
qgroundcontrol
Commits
3f659c52
Commit
3f659c52
authored
Nov 18, 2016
by
Don Gagne
Browse files
Options
Browse Files
Download
Email Patches
Plain Diff
Only depend on accel 1 for setup complete
parent
8eab3f6e
Changes
1
Show whitespace changes
Inline
Side-by-side
Showing
1 changed file
with
8 additions
and
35 deletions
+8
-35
APMSensorsComponent.cc
src/AutoPilotPlugins/APM/APMSensorsComponent.cc
+8
-35
No files found.
src/AutoPilotPlugins/APM/APMSensorsComponent.cc
View file @
3f659c52
...
...
@@ -62,12 +62,6 @@ QStringList APMSensorsComponent::setupCompleteChangedTriggerList(void) const
// Accelerometer triggers
triggers
<<
"INS_ACCOFFS_X"
<<
"INS_ACCOFFS_Y"
<<
"INS_ACCOFFS_Z"
;
if
(
_vehicle
->
parameterManager
()
->
parameterExists
(
FactSystem
::
defaultComponentId
,
QStringLiteral
(
"INS_USE"
)))
{
triggers
<<
QStringLiteral
(
"INS_USE"
)
<<
QStringLiteral
(
"INS_USE2"
)
<<
QStringLiteral
(
"INS_USE3"
);
triggers
<<
QStringLiteral
(
"INS_ACC2OFFS_X"
)
<<
QStringLiteral
(
"INS_ACC2OFFS_Y"
)
<<
QStringLiteral
(
"INS_ACC2OFFS_Z"
);
triggers
<<
QStringLiteral
(
"INS_ACC3OFFS_X"
)
<<
QStringLiteral
(
"INS_ACC3OFFS_Y"
)
<<
QStringLiteral
(
"INS_ACC3OFFS_Z"
);
}
return
triggers
;
}
...
...
@@ -123,39 +117,18 @@ bool APMSensorsComponent::compassSetupNeeded(void) const
bool
APMSensorsComponent
::
accelSetupNeeded
(
void
)
const
{
QStringList
rgUse
;
QStringList
rgOffsets
;
QList
<
QStringList
>
rgAccels
;
// We always at a minimum test the first accel
// The best we can do is test the first accel which will always be there. We don't have enough information to know
// whether any of the other accels are available.
rgOffsets
<<
QStringLiteral
(
"INS_ACCOFFS_X"
)
<<
QStringLiteral
(
"INS_ACCOFFS_Y"
)
<<
QStringLiteral
(
"INS_ACCOFFS_Z"
);
rgAccels
<<
rgOffsets
;
rgOffsets
.
clear
();
// This parameter is not available in all firmware version. Specifically missing from older Solo firmware.
if
(
_vehicle
->
parameterManager
()
->
parameterExists
(
FactSystem
::
defaultComponentId
,
QStringLiteral
(
"INS_USE"
)))
{
rgUse
<<
QStringLiteral
(
"INS_USE"
)
<<
QStringLiteral
(
"INS_USE2"
)
<<
QStringLiteral
(
"INS_USE3"
);
// We have usage information for the remaining accels, so we can test them sa well
rgOffsets
<<
QStringLiteral
(
"INS_ACC2OFFS_X"
)
<<
QStringLiteral
(
"INS_ACC2OFFS_Y"
)
<<
QStringLiteral
(
"INS_ACC2OFFS_Z"
);
rgAccels
<<
rgOffsets
;
rgOffsets
.
clear
();
rgOffsets
<<
QStringLiteral
(
"INS_ACC3OFFS_X"
)
<<
QStringLiteral
(
"INS_ACC3OFFS_Y"
)
<<
QStringLiteral
(
"INS_ACC3OFFS_Z"
);
rgAccels
<<
rgOffsets
;
rgOffsets
.
clear
();
}
for
(
int
i
=
0
;
i
<
rgAccels
.
count
();
i
++
)
{
if
(
rgUse
.
count
()
==
0
||
_vehicle
->
parameterManager
()
->
getParameter
(
FactSystem
::
defaultComponentId
,
rgUse
[
i
])
->
rawValue
().
toInt
()
!=
0
)
{
for
(
int
j
=
0
;
j
<
rgAccels
[
0
].
count
();
j
++
)
{
if
(
_vehicle
->
parameterManager
()
->
getParameter
(
FactSystem
::
defaultComponentId
,
rgAccels
[
i
][
j
])
->
rawValue
().
toFloat
()
==
0.0
f
)
{
return
true
;
}
}
int
zeroCount
=
0
;
for
(
int
i
=
0
;
i
<
rgOffsets
.
count
();
i
++
)
{
if
(
_vehicle
->
parameterManager
()
->
getParameter
(
FactSystem
::
defaultComponentId
,
rgOffsets
[
i
])
->
rawValue
().
toFloat
()
==
0.0
f
)
{
zeroCount
++
;
}
}
return
false
;
return
zeroCount
==
rgOffsets
.
count
()
;
}
Write
Preview
Markdown
is supported
0%
Try again
or
attach a new file
Attach a file
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Cancel
Please
register
or
sign in
to comment