gyroscope: added calibrate service

pcdangio · Mar 6, 2021 · 6aa8b6f · 6aa8b6f
1 parent 39c9f79
commit 6aa8b6f
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -24,6 +24,7 @@ add_message_files(
 # Add service files.
 add_service_files(
   FILES
+  calibrate_gyroscope.srv
   set_axis_home.srv
   get_proximity_configuration.srv
 )

diff --git a/srv/calibrate_gyroscope.srv b/srv/calibrate_gyroscope.srv
@@ -0,0 +1,6 @@
+# Requests a zero-velocity calibration of a gyroscope.
+
+uint32 averaging_period     # The number of milliseconds to average the bias calculation over.
+---
+bool success                # TRUE if the calibration was successful, otherwise FALSE.
+string message              # If unsuccesful, reports the reason.