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Copter: remove gesture compass cal start / stop

This commit is contained in:
Iampete1 2021-08-15 14:56:37 +01:00 committed by Randy Mackay
parent 8c61d1a18d
commit 0895cf0a07
3 changed files with 1 additions and 31 deletions
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2
ArduCopter/Copter.cpp
View File

@ -166,7 +166,7 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
#if RPM_ENABLED == ENABLED
SCHED_TASK(rpm_update, 40, 200),
#endif
SCHED_TASK(compass_cal_update, 100, 100),
SCHED_TASK_CLASS(Compass, &copter.compass, cal_update, 100, 100),
SCHED_TASK(accel_cal_update, 10, 100),
SCHED_TASK_CLASS(AP_TempCalibration, &copter.g2.temp_calibration, update, 10, 100),
#if HAL_ADSB_ENABLED

1
ArduCopter/Copter.h
View File

@ -864,7 +864,6 @@ private:
bool rangefinder_up_ok() const;
void rpm_update();
void update_optical_flow(void);
void compass_cal_update(void);
void accel_cal_update(void);
void init_proximity();
void update_proximity();

29
ArduCopter/sensors.cpp
View File

@ -162,35 +162,6 @@ void Copter::rpm_update(void)
#endif
}
void Copter::compass_cal_update()
{
compass.cal_update();
if (hal.util->get_soft_armed()) {
return;
}
static uint32_t compass_cal_stick_gesture_begin = 0;
if (compass.is_calibrating()) {
if (channel_yaw->get_control_in() < -4000 && channel_throttle->get_control_in() > 900) {
compass.cancel_calibration_all();
}
} else {
bool stick_gesture_detected = compass_cal_stick_gesture_begin != 0 && !motors->armed() && channel_yaw->get_control_in() > 4000 && channel_throttle->get_control_in() > 900;
uint32_t tnow = millis();
if (!stick_gesture_detected) {
compass_cal_stick_gesture_begin = tnow;
} else if (tnow-compass_cal_stick_gesture_begin > 1000*COMPASS_CAL_STICK_GESTURE_TIME) {
#ifdef CAL_ALWAYS_REBOOT
compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,true);
#else
compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,false);
#endif
}
}
}
void Copter::accel_cal_update()
{