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AP_Compass: flag compass cal as long expected delay

This commit is contained in:
Andrew Tridgell 2019-04-11 21:12:20 +10:00
parent cec6f0e3d4
commit 025496f65e
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_Compass/CompassCalibrator.cpp
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@ -797,6 +797,9 @@ bool CompassCalibrator::calculate_orientation(void)
return true;
}
// this function is very slow
hal.scheduler->expect_delay_ms(1000);
float variance[ROTATION_MAX] {};
for (enum Rotation r = ROTATION_NONE; r<ROTATION_MAX; r = (enum Rotation)(r+1)) {
@ -863,6 +866,8 @@ bool CompassCalibrator::calculate_orientation(void)
gcs().send_text(MAV_SEVERITY_INFO, "Mag(%u) new orientation: %u was %u %.1f", _compass_idx, besti, _orientation, _orientation_confidence);
}
hal.scheduler->expect_delay_ms(0);
if (!pass) {
set_status(COMPASS_CAL_BAD_ORIENTATION);
return false;