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AP_Compass: don't do auto-orientation if using ROTATION_CUSTOM

This commit is contained in:
Andrew Tridgell 2018-07-18 12:07:52 +10:00
parent a73492b40a
commit 15d2daabf0
1 changed files with 4 additions and 1 deletions
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libraries/AP_Compass/AP_Compass_Calibration.cpp
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@ -62,7 +62,10 @@ Compass::_start_calibration(uint8_t i, bool retry, float delay)
_calibrator[i].set_tolerance(_calibration_threshold*2);
}
if (_rotate_auto) {
_calibrator[i].set_orientation(_state[i].external?(enum Rotation)_state[i].orientation.get():ROTATION_NONE, _state[i].external, _rotate_auto>=2);
enum Rotation r = _state[i].external?(enum Rotation)_state[i].orientation.get():ROTATION_NONE;
if (r != ROTATION_CUSTOM) {
_calibrator[i].set_orientation(r, _state[i].external, _rotate_auto>=2);
}
}
_cal_saved[i] = false;
_calibrator[i].start(retry, delay, get_offsets_max(), i);