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AP_InertialSensor: prevent watchdog in accelcal

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Andrew Tridgell 2019-04-20 17:21:08 +10:00 committed by Randy Mackay
parent 020ce245b9
commit 12dfccf65a
1 changed files with 6 additions and 0 deletions
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6
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1106,6 +1106,8 @@ AP_InertialSensor::_init_gyro()
// cold start // cold start
hal.console->printf("Init Gyro"); hal.console->printf("Init Gyro");
hal.scheduler->expect_delay_ms(60000);
/* /*
we do the gyro calibration with no board rotation. This avoids we do the gyro calibration with no board rotation. This avoids
having to rotate readings during the calibration having to rotate readings during the calibration
@ -1220,6 +1222,8 @@ AP_InertialSensor::_init_gyro()
// stop flashing leds // stop flashing leds
AP_Notify::flags.initialising = false; AP_Notify::flags.initialising = false;
hal.scheduler->expect_delay_ms(0);
} }
// save parameters to eeprom // save parameters to eeprom
@ -1681,11 +1685,13 @@ void AP_InertialSensor::acal_update()
return; return;
} }
hal.scheduler->expect_delay_ms(20000);
_acal->update(); _acal->update();
if (hal.util->get_soft_armed() && _acal->get_status() != ACCEL_CAL_NOT_STARTED) { if (hal.util->get_soft_armed() && _acal->get_status() != ACCEL_CAL_NOT_STARTED) {
_acal->cancel(); _acal->cancel();
} }
hal.scheduler->expect_delay_ms(0);
} }
/* /*