airspeed calibration fail with any errors

maxond · Nov 19, 2016 · 9e589ce · 9e589ce
1 parent 46a6977
commit 9e589ce
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/src/modules/commander/airspeed_calibration.cpp b/src/modules/commander/airspeed_calibration.cpp
@@ -142,6 +142,13 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
  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 error count non zero");
+ 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);
  }