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Tracker: call compass cal routine directly from sched table

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This commit is contained in:
Peter Barker 2019-03-25 20:10:26 +11:00 committed by Andrew Tridgell
parent 47d9960eb9
commit 09a11429e1
3 changed files with 1 additions and 11 deletions
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2
AntennaTracker/AntennaTracker.cpp
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@ -49,7 +49,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_InertialSensor, &tracker.ins, periodic, 50, 50),
SCHED_TASK_CLASS(AP_Notify, &tracker.notify, update, 50, 100),
SCHED_TASK(one_second_loop, 1, 3900),
SCHED_TASK(compass_cal_update, 50, 100),
SCHED_TASK_CLASS(Compass, &tracker.compass, cal_update, 50, 100),
SCHED_TASK(accel_cal_update, 10, 100)
};

1
AntennaTracker/Tracker.h
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@ -247,7 +247,6 @@ private:
void compass_save();
void init_compass_location();
void update_compass(void);
void compass_cal_update();
void accel_cal_update(void);
void update_GPS(void);
void handle_battery_failsafe(const char* type_str, const int8_t action);

9
AntennaTracker/sensors.cpp
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@ -36,15 +36,6 @@ void Tracker::update_compass(void)
}
}
/*
calibrate compass
*/
void Tracker::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
// Save compass offsets
void Tracker::compass_save() {
if (AP::compass().enabled() &&