Move calibration from commander to event framework #8200
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sugnanprabhu
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This patch moves all the calibration routines out of commander to events framework. Also removes low prio thread from commander. Signed-off-by: Sugnan Prabhu S <sugnan.prabhu.s@intel.com>
Signed-off-by: Sugnan Prabhu S <sugnan.prabhu.s@intel.com>
dagar
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Looks great! I resolved the conflicts, deleted some remaining low priority thread configuration, and rebased on px4 master. I'd like to get this in right after the v1.7.0 release. |
| @@ -237,9 +242,10 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub) | |||
| } | |||
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| 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); | |||
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TODO - review calibration tunes
| @@ -257,7 +263,6 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub) | |||
| calibration_log_info(mavlink_log_pub, CAL_QGC_PROGRESS_MSG, 100); | |||
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| calibration_log_info(mavlink_log_pub, CAL_QGC_DONE_MSG, sensor_name); | |||
| tune_neutral(true); | |||
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TODO for @dagar
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@simonegu @LorenzMeier can we sync up this week to discuss plans for the tone_alarm uORB architecture? #7316 I'd strongly prefer getting tone usage via uORB in place first so that the calibration code isn't directly calling into the commander library in this PR. In fact we should also update the build system so that modules don't have free access to other modules like that (#8378). |
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@sugnanprabhu Do you have time this week to rebase this? Ideally this would include porting the remaining parts of Commander into the (new) class architecture. |
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I've rebased this here: @sugnanprabhu Could you review if I did the rebase correctly? If not, please rebase yourself and I'll delete my branch. |
This patch moves all calibration routines out of commander to events framework and removes commander_low_prio_loop.
Includes following set of changes.
i. commander does some minimal handling and move the arming state to ARMING_STATE_INIT.
ii. event framework waits until the arming state is moved to ARMING_STATE_INIT before timeout of 2secs.
This is one of the part of task mentioned in #8014