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Sub: move automatic declination setting into AP_Compass itself

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Peter Barker 2019-03-27 18:02:24 +11:00 committed by Andrew Tridgell
parent 20626a1fe1
commit 03e6065380
3 changed files with 0 additions and 19 deletions
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3
ArduSub/ArduSub.cpp
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@ -284,9 +284,6 @@ void Sub::one_hz_loop()
// log terrain data // log terrain data
terrain_logging(); terrain_logging();
// init compass location for declination
init_compass_location();
// need to set "likely flying" when armed to allow for compass // need to set "likely flying" when armed to allow for compass
// learning to run // learning to run
ahrs.set_likely_flying(hal.util->get_soft_armed()); ahrs.set_likely_flying(hal.util->get_soft_armed());

1
ArduSub/Sub.h
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@ -454,7 +454,6 @@ private:
static const AP_Param::Info var_info[]; static const AP_Param::Info var_info[];
static const struct LogStructure log_structure[]; static const struct LogStructure log_structure[];
void init_compass_location();
void fast_loop(); void fast_loop();
void fifty_hz_loop(); void fifty_hz_loop();
void update_batt_compass(void); void update_batt_compass(void);

15
ArduSub/sensors.cpp
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@ -80,21 +80,6 @@ void Sub::rpm_update(void)
} }
#endif #endif
/*
initialise compass's location used for declination
*/
void Sub::init_compass_location()
{
// update initial location used for declination
if (!ap.compass_init_location) {
Location loc;
if (ahrs.get_position(loc)) {
compass.set_initial_location(loc.lat, loc.lng);
ap.compass_init_location = true;
}
}
}
// initialise optical flow sensor // initialise optical flow sensor
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
void Sub::init_optflow() void Sub::init_optflow()