void GCS_MAVLINK::send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer)
{
// run this message at a much lower rate - otherwise it
// pointlessly wastes quite a lot of bandwidth
static uint8_t counter;
if (counter++ < 10) {
return;
}
counter = 0;
const Vector3f &mag_offsets = compass.get_offsets(0);
const Vector3f &accel_offsets = ins.get_accel_offsets(0);
const Vector3f &gyro_offsets = ins.get_gyro_offsets(0);
mavlink_msg_sensor_offsets_send(chan,
mag_offsets.x,
mag_offsets.y,
mag_offsets.z,
compass.get_declination(),
barometer.get_pressure(),
barometer.get_temperature()*100,
gyro_offsets.x,
gyro_offsets.y,
gyro_offsets.z,
accel_offsets.x,
accel_offsets.y,
accel_offsets.z);
}
static void display_offsets_and_scaling()
{
const Vector3f &accel_offsets = ins.get_accel_offsets();
const Vector3f &accel_scale = ins.get_accel_scale();
const Vector3f &gyro_offsets = ins.get_gyro_offsets();
// display results
hal.console->printf("\nAccel Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
(double)accel_offsets.x,
(double)accel_offsets.y,
(double)accel_offsets.z);
hal.console->printf("Accel Scale X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
(double)accel_scale.x,
(double)accel_scale.y,
(double)accel_scale.z);
hal.console->printf("Gyro Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n",
(double)gyro_offsets.x,
(double)gyro_offsets.y,
(double)gyro_offsets.z);
}
static void display_offsets_and_scaling()
{
Vector3f accel_offsets = ins.get_accel_offsets();
Vector3f accel_scale = ins.get_accel_scale();
Vector3f gyro_offsets = ins.get_gyro_offsets();
// display results
hal.console->printf_P(
PSTR("\nAccel Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n"),
accel_offsets.x,
accel_offsets.y,
accel_offsets.z);
hal.console->printf_P(
PSTR("Accel Scale X:%10.8f \t Y:%10.8f \t Z:%10.8f\n"),
accel_scale.x,
accel_scale.y,
accel_scale.z);
hal.console->printf_P(
PSTR("Gyro Offsets X:%10.8f \t Y:%10.8f \t Z:%10.8f\n"),
gyro_offsets.x,
gyro_offsets.y,
gyro_offsets.z);
}
