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Tracker: move automatic declination setting into AP_Compass itself

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Peter Barker 2019-03-27 18:01:43 +11:00 committed by Andrew Tridgell
parent 9d54b4820f
commit 2428487383
3 changed files with 0 additions and 24 deletions
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3
AntennaTracker/AntennaTracker.cpp
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@ -97,9 +97,6 @@ void Tracker::one_second_loop()
// updated armed/disarmed status LEDs // updated armed/disarmed status LEDs
update_armed_disarmed(); update_armed_disarmed();
// init compass location for declination
init_compass_location();
if (!ahrs.home_is_set()) { if (!ahrs.home_is_set()) {
// set home to current location // set home to current location
Location temp_loc; Location temp_loc;

1
AntennaTracker/Tracker.h
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@ -248,7 +248,6 @@ private:
// sensors.cpp // sensors.cpp
void update_ahrs(); void update_ahrs();
void compass_save(); void compass_save();
void init_compass_location();
void update_compass(void); void update_compass(void);
void accel_cal_update(void); void accel_cal_update(void);
void update_GPS(void); void update_GPS(void);

20
AntennaTracker/sensors.cpp
View File

@ -8,21 +8,6 @@ void Tracker::update_ahrs()
ahrs.update(); ahrs.update();
} }
/*
initialise compass's location used for declination
*/
void Tracker::init_compass_location(void)
{
// update initial location used for declination
if (!compass_init_location) {
Location loc;
if (ahrs.get_position(loc)) {
compass.set_initial_location(loc.lat, loc.lng);
compass_init_location = true;
}
}
}
/* /*
read and update compass read and update compass
*/ */
@ -85,11 +70,6 @@ void Tracker::update_GPS(void)
if (!set_home(current_loc)) { if (!set_home(current_loc)) {
// silently ignored // silently ignored
} }
if (AP::compass().enabled()) {
// Set compass declination automatically
compass.set_initial_location(gps.location().lat, gps.location().lng);
}
ground_start_count = 0; ground_start_count = 0;
} }
} }