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AP_InertialSensor: prevent watchdog in accelcal

This commit is contained in:
Andrew Tridgell 2019-04-20 17:21:08 +10:00
parent f0f36c6237
commit 034d476fa5
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1115,6 +1115,8 @@ AP_InertialSensor::_init_gyro()
// cold start
hal.console->printf("Init Gyro");
hal.scheduler->expect_delay_ms(60000);
/*
we do the gyro calibration with no board rotation. This avoids
having to rotate readings during the calibration
@ -1229,6 +1231,8 @@ AP_InertialSensor::_init_gyro()
// stop flashing leds
AP_Notify::flags.initialising = false;
hal.scheduler->expect_delay_ms(0);
}
// save parameters to eeprom
@ -1693,11 +1697,13 @@ void AP_InertialSensor::acal_update()
return;
}
hal.scheduler->expect_delay_ms(20000);
_acal->update();
if (hal.util->get_soft_armed() && _acal->get_status() != ACCEL_CAL_NOT_STARTED) {
_acal->cancel();
}
hal.scheduler->expect_delay_ms(0);
}
/*