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AP_Compass_Calibrator: remove unrequired variables

This commit is contained in:
Siddharth Bharat Purohit 2015-09-02 15:30:42 -07:00 committed by Andrew Tridgell
parent c126017035
commit 3abdf85796
1 changed files with 13 additions and 18 deletions
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31
libraries/AP_Compass/AP_Compass_Calibration.cpp
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@ -169,19 +169,16 @@ Compass::send_mag_cal_progress(mavlink_channel_t chan)
{
uint8_t cal_mask = get_cal_mask();
for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
CompassCalibrator& cal = _calibrator[i];
uint8_t& compass_id = i;
uint8_t cal_status = cal.get_status();
for (uint8_t compass_id=0; compass_id<COMPASS_MAX_INSTANCES; compass_id++) {
uint8_t cal_status = _calibrator[compass_id].get_status();
if (cal_status == COMPASS_CAL_WAITING_TO_START ||
cal_status == COMPASS_CAL_RUNNING_STEP_ONE ||
cal_status == COMPASS_CAL_RUNNING_STEP_TWO) {
uint8_t completion_pct = cal.get_completion_percent();
uint8_t completion_pct = _calibrator[compass_id].get_completion_percent();
uint8_t completion_mask[10];
Vector3f direction(0.0f,0.0f,0.0f);
uint8_t attempt = cal.get_attempt();
uint8_t attempt = _calibrator[compass_id].get_attempt();
memset(completion_mask, 0, sizeof(completion_mask));
@ -199,18 +196,16 @@ void Compass::send_mag_cal_report(mavlink_channel_t chan)
{
uint8_t cal_mask = get_cal_mask();
for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
CompassCalibrator& cal = _calibrator[i];
for (uint8_t compass_id=0; compass_id<COMPASS_MAX_INSTANCES; compass_id++) {
uint8_t& compass_id = i;
uint8_t cal_status = cal.get_status();
uint8_t cal_status = _calibrator[compass_id].get_status();
if ((cal_status == COMPASS_CAL_SUCCESS ||
cal_status == COMPASS_CAL_FAILED) && ((_reports_sent[i] < MAX_CAL_REPORTS) || CONTINUOUS_REPORTS)) {
float fitness = cal.get_fitness();
cal_status == COMPASS_CAL_FAILED) && ((_reports_sent[compass_id] < MAX_CAL_REPORTS) || CONTINUOUS_REPORTS)) {
float fitness = _calibrator[compass_id].get_fitness();
Vector3f ofs, diag, offdiag;
cal.get_calibration(ofs, diag, offdiag);
uint8_t autosaved = cal.get_autosave();
_calibrator[compass_id].get_calibration(ofs, diag, offdiag);
uint8_t autosaved = _calibrator[compass_id].get_autosave();
mavlink_msg_mag_cal_report_send(
chan,
@ -221,11 +216,11 @@ void Compass::send_mag_cal_report(mavlink_channel_t chan)
diag.x, diag.y, diag.z,
offdiag.x, offdiag.y, offdiag.z
);
_reports_sent[i]++;
_reports_sent[compass_id]++;
}
if (cal_status == COMPASS_CAL_SUCCESS && cal.get_autosave()) {
accept_calibration(i);
if (cal_status == COMPASS_CAL_SUCCESS && _calibrator[compass_id].get_autosave()) {
accept_calibration(compass_id);
}
}
}