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CompassCalibrator: update AP_Notify on failure

This commit is contained in:
Jonathan Challinger 2015-03-09 19:59:57 -07:00 committed by Andrew Tridgell
parent bfdbb55528
commit 328cf82c3d
2 changed files with 8 additions and 3 deletions
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9
libraries/AP_Compass/CompassCalibrator.cpp
View File

@ -1,6 +1,6 @@
#include "CompassCalibrator.h" #include "CompassCalibrator.h"
#include <AP_HAL.h> #include <AP_HAL.h>
#include <stdio.h> #include <AP_Notify.h>
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -59,11 +59,14 @@ float CompassCalibrator::get_completion_percent() const {
}; };
} }
void CompassCalibrator::check_for_timeout() { bool CompassCalibrator::check_for_timeout() {
uint32_t tnow = hal.scheduler->millis(); uint32_t tnow = hal.scheduler->millis();
if(running() && tnow - _last_sample_ms > 1000) { if(running() && tnow - _last_sample_ms > 1000) {
_retry = false;
set_status(COMPASS_CAL_FAILED); set_status(COMPASS_CAL_FAILED);
return true;
} }
return false;
} }
void CompassCalibrator::new_sample(const Vector3f& sample) { void CompassCalibrator::new_sample(const Vector3f& sample) {
@ -221,6 +224,8 @@ bool CompassCalibrator::set_status(compass_cal_status_t status) {
return false; return false;
} }
AP_Notify::events.compass_cal_failed = 1;
if(_retry && set_status(COMPASS_CAL_WAITING_TO_START)) { if(_retry && set_status(COMPASS_CAL_WAITING_TO_START)) {
_attempt++; _attempt++;
return true; return true;

2
libraries/AP_Compass/CompassCalibrator.h
View File

@ -26,7 +26,7 @@ public:
void new_sample(const Vector3f &sample); void new_sample(const Vector3f &sample);
void run_fit_chunk(); void run_fit_chunk();
void check_for_timeout(); bool check_for_timeout();
bool running() const; bool running() const;