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Tracker: moved accel cal update to vehicle code

This commit is contained in:
Andrew Tridgell 2021-08-17 12:52:48 +10:00
parent 5dcfa95444
commit 39b4825442
3 changed files with 0 additions and 16 deletions
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1
AntennaTracker/Tracker.cpp
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@ -52,7 +52,6 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK(one_second_loop, 1, 3900),
SCHED_TASK_CLASS(Compass, &tracker.compass, cal_update, 50, 100),
SCHED_TASK(stats_update, 1, 200),
SCHED_TASK(accel_cal_update, 10, 100)
};
void Tracker::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,

1
AntennaTracker/Tracker.h
View File

@ -194,7 +194,6 @@ private:
void update_ahrs();
void compass_save();
void update_compass(void);
void accel_cal_update(void);
void update_GPS(void);
void handle_battery_failsafe(const char* type_str, const int8_t action);

14
AntennaTracker/sensors.cpp
View File

@ -25,20 +25,6 @@ void Tracker::compass_save() {
}
}
/*
Accel calibration
*/
void Tracker::accel_cal_update() {
if (hal.util->get_soft_armed()) {
return;
}
ins.acal_update();
float trim_roll, trim_pitch;
if (ins.get_new_trim(trim_roll, trim_pitch)) {
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
}
/*
read the GPS
*/