int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
{
int result = PX4_OK;
unsigned calibration_counter = 0;
const unsigned maxcount = 2400;
/* give directions */
calibration_log_info(mavlink_log_pub, CAL_QGC_STARTED_MSG, sensor_name);
const unsigned calibration_count = (maxcount * 2) / 3;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
float diff_pres_offset = 0.0f;
/* Reset sensor parameters */
struct airspeed_scale airscale = {
diff_pres_offset,
1.0f,
};
bool paramreset_successful = false;
int fd = px4_open(AIRSPEED0_DEVICE_PATH, 0);
if (fd > 0) {
if (PX4_OK == px4_ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
paramreset_successful = true;
} else {
calibration_log_critical(mavlink_log_pub, "[cal] airspeed offset zero failed");
}
px4_close(fd);
}
int cancel_sub = calibrate_cancel_subscribe();
if (!paramreset_successful) {
/* only warn if analog scaling is zero */
float analog_scaling = 0.0f;
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
if (fabsf(analog_scaling) < 0.1f) {
calibration_log_critical(mavlink_log_pub, "[cal] No airspeed sensor found");
goto error_return;
}
/* set scaling offset parameter */
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG, 1);
goto error_return;
}
}
calibration_log_critical(mavlink_log_pub, "[cal] Ensure sensor is not measuring wind");
usleep(500 * 1000);
while (calibration_counter < calibration_count) {
if (calibrate_cancel_check(mavlink_log_pub, cancel_sub)) {
goto error_return;
}
/* wait blocking for new data */
px4_pollfd_struct_t fds[1];
fds[0].fd = diff_pres_sub;
fds[0].events = POLLIN;
int poll_ret = px4_poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
calibration_counter++;
/* any differential pressure failure a reason to abort */
if (diff_pres.error_count != 0) {
calibration_log_critical(mavlink_log_pub, "[cal] Airspeed sensor is reporting errors (%llu)", diff_pres.error_count);
calibration_log_critical(mavlink_log_pub, "[cal] Check your wiring before trying again");
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
}
if (calibration_counter % (calibration_count / 20) == 0) {
calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, (calibration_counter * 80) / calibration_count);
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
}
}
diff_pres_offset = diff_pres_offset / calibration_count;
if (PX4_ISFINITE(diff_pres_offset)) {
int fd_scale = px4_open(AIRSPEED0_DEVICE_PATH, 0);
airscale.offset_pa = diff_pres_offset;
if (fd_scale > 0) {
if (PX4_OK != px4_ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
calibration_log_critical(mavlink_log_pub, "[cal] airspeed offset update failed");
}
px4_close(fd_scale);
}
// Prevent a completely zero param
// since this is used to detect a missing calibration
// This value is numerically down in the noise and has
// no effect on the sensor performance.
if (fabsf(diff_pres_offset) < 0.00000001f) {
diff_pres_offset = 0.00000001f;
}
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG, 1);
goto error_return;
}
} else {
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
}
calibration_log_info(mavlink_log_pub, "[cal] Offset of %d Pascal", (int)diff_pres_offset);
/* wait 500 ms to ensure parameter propagated through the system */
usleep(500 * 1000);
calibration_log_critical(mavlink_log_pub, "[cal] Blow across front of pitot without touching");
calibration_counter = 0;
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
while (calibration_counter < maxcount) {
if (calibrate_cancel_check(mavlink_log_pub, cancel_sub)) {
goto error_return;
}
/* wait blocking for new data */
px4_pollfd_struct_t fds[1];
fds[0].fd = diff_pres_sub;
fds[0].events = POLLIN;
int poll_ret = px4_poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
if (fabsf(diff_pres.differential_pressure_filtered_pa) > 50.0f) {
if (diff_pres.differential_pressure_filtered_pa > 0) {
calibration_log_info(mavlink_log_pub, "[cal] Positive pressure: OK (%d Pa)", (int)diff_pres.differential_pressure_filtered_pa);
break;
} else {
/* do not allow negative values */
calibration_log_info(mavlink_log_pub, "[cal] Negative pressure difference detected (%d Pa)", (int)diff_pres.differential_pressure_filtered_pa);
calibration_log_info(mavlink_log_pub, "[cal] Swap static and dynamic ports!");
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
diff_pres_offset = 0.0f;
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
calibration_log_critical(mavlink_log_pub, CAL_ERROR_SET_PARAMS_MSG, 1);
goto error_return;
}
/* save */
calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 0);
param_save_default();
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
}
}
if (calibration_counter % 500 == 0) {
calibration_log_info(mavlink_log_pub, "[cal] Create air pressure! (got %d, wanted: 50 Pa)", (int)diff_pres.differential_pressure_filtered_pa);
tune_neutral(true);
}
calibration_counter++;
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
}
}
if (calibration_counter == maxcount) {
feedback_calibration_failed(mavlink_log_pub);
goto error_return;
}
calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100);
calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name);
tune_neutral(true);
/* Wait 2sec for the airflow to stop and ensure the driver filter has caught up, otherwise
* the followup preflight checks might fail. */
usleep(2e6);
normal_return:
calibrate_cancel_unsubscribe(cancel_sub);
px4_close(diff_pres_sub);
// This give a chance for the log messages to go out of the queue before someone else stomps on then
sleep(1);
return result;
error_return:
result = PX4_ERROR;
goto normal_return;
}
int do_airspeed_calibration(int mavlink_fd)
{
/* give directions */
mavlink_log_info(mavlink_fd, CAL_STARTED_MSG, sensor_name);
const unsigned calibration_count = 2000;
int diff_pres_sub = orb_subscribe(ORB_ID(differential_pressure));
struct differential_pressure_s diff_pres;
float diff_pres_offset = 0.0f;
/* Reset sensor parameters */
struct airspeed_scale airscale = {
diff_pres_offset,
1.0f,
};
bool paramreset_successful = false;
int fd = open(AIRSPEED_DEVICE_PATH, 0);
if (fd > 0) {
if (OK == ioctl(fd, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
paramreset_successful = true;
} else {
mavlink_log_critical(mavlink_fd, "airspeed offset zero failed");
}
close(fd);
}
if (!paramreset_successful) {
/* only warn if analog scaling is zero */
float analog_scaling = 0.0f;
param_get(param_find("SENS_DPRES_ANSC"), &(analog_scaling));
if (fabsf(analog_scaling) < 0.1f) {
mavlink_log_critical(mavlink_fd, "No airspeed sensor, see http://px4.io/help/aspd");
close(diff_pres_sub);
return ERROR;
}
/* set scaling offset parameter */
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
}
}
unsigned calibration_counter = 0;
mavlink_log_critical(mavlink_fd, "Ensure sensor is not measuring wind");
usleep(500 * 1000);
while (calibration_counter < calibration_count) {
/* wait blocking for new data */
struct pollfd fds[1];
fds[0].fd = diff_pres_sub;
fds[0].events = POLLIN;
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
diff_pres_offset += diff_pres.differential_pressure_raw_pa;
calibration_counter++;
if (calibration_counter % (calibration_count / 20) == 0) {
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, (calibration_counter * 80) / calibration_count);
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
}
diff_pres_offset = diff_pres_offset / calibration_count;
if (isfinite(diff_pres_offset)) {
int fd_scale = open(AIRSPEED_DEVICE_PATH, 0);
airscale.offset_pa = diff_pres_offset;
if (fd_scale > 0) {
if (OK != ioctl(fd_scale, AIRSPEEDIOCSSCALE, (long unsigned int)&airscale)) {
mavlink_log_critical(mavlink_fd, "airspeed offset update failed");
}
close(fd_scale);
}
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
}
/* auto-save to EEPROM */
int save_ret = param_save_default();
if (save_ret != 0) {
warn("WARNING: auto-save of params to storage failed");
mavlink_log_critical(mavlink_fd, CAL_FAILED_SAVE_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
}
} else {
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
mavlink_log_critical(mavlink_fd, "Offset of %d Pascal", (int)diff_pres_offset);
/* wait 500 ms to ensure parameter propagated through the system */
usleep(500 * 1000);
mavlink_log_critical(mavlink_fd, "Create airflow now");
calibration_counter = 0;
const unsigned maxcount = 3000;
/* just take a few samples and make sure pitot tubes are not reversed, timeout after ~30 seconds */
while (calibration_counter < maxcount) {
/* wait blocking for new data */
struct pollfd fds[1];
fds[0].fd = diff_pres_sub;
fds[0].events = POLLIN;
int poll_ret = poll(fds, 1, 1000);
if (poll_ret) {
orb_copy(ORB_ID(differential_pressure), diff_pres_sub, &diff_pres);
calibration_counter++;
if (fabsf(diff_pres.differential_pressure_raw_pa) < 50.0f) {
if (calibration_counter % 500 == 0) {
mavlink_log_info(mavlink_fd, "Create air pressure! (got %d, wanted: 50 Pa)",
(int)diff_pres.differential_pressure_raw_pa);
}
continue;
}
/* do not allow negative values */
if (diff_pres.differential_pressure_raw_pa < 0.0f) {
mavlink_log_info(mavlink_fd, "ERROR: Negative pressure difference detected! (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
mavlink_log_critical(mavlink_fd, "Swap static and dynamic ports!");
close(diff_pres_sub);
/* the user setup is wrong, wipe the calibration to force a proper re-calibration */
diff_pres_offset = 0.0f;
if (param_set(param_find("SENS_DPRES_OFF"), &(diff_pres_offset))) {
mavlink_log_critical(mavlink_fd, CAL_FAILED_SET_PARAMS_MSG);
close(diff_pres_sub);
return ERROR;
}
/* save */
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 0);
(void)param_save_default();
close(diff_pres_sub);
feedback_calibration_failed(mavlink_fd);
return ERROR;
} else {
mavlink_log_info(mavlink_fd, "Positive pressure: OK (%d Pa)",
(int)diff_pres.differential_pressure_raw_pa);
break;
}
} else if (poll_ret == 0) {
/* any poll failure for 1s is a reason to abort */
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
}
if (calibration_counter == maxcount) {
feedback_calibration_failed(mavlink_fd);
close(diff_pres_sub);
return ERROR;
}
mavlink_log_info(mavlink_fd, CAL_PROGRESS_MSG, sensor_name, 100);
mavlink_log_info(mavlink_fd, CAL_DONE_MSG, sensor_name);
tune_neutral(true);
close(diff_pres_sub);
return OK;
}
