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AP_Compass: clarify all_configured calculations

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Peter Barker 2021-11-01 16:27:28 +11:00 committed by Peter Barker
parent e8926f8518
commit 0627ee66c5
1 changed files with 10 additions and 1 deletions
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11
libraries/AP_Compass/AP_Compass.cpp
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@ -1880,7 +1880,16 @@ bool Compass::configured(char *failure_msg, uint8_t failure_msg_len)
bool all_configured = true; bool all_configured = true;
for (uint8_t i=0; i<get_count(); i++) { for (uint8_t i=0; i<get_count(); i++) {
all_configured = all_configured && (!use_for_yaw(i) || configured(i)); if (configured(i)) {
continue;
}
if (!use_for_yaw(i)) {
// we're not planning on using this anyway so sure,
// whatever, it's configured....
continue;
}
all_configured = false;
break;
} }
if (!all_configured) { if (!all_configured) {
snprintf(failure_msg, failure_msg_len, "Compass not calibrated"); snprintf(failure_msg, failure_msg_len, "Compass not calibrated");