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AP_InertialSensor: skip gyro cal on watchdog reset

This commit is contained in:
Andrew Tridgell 2019-04-11 19:51:25 +10:00
parent ad2ff5a207
commit 3f0af2ce29
2 changed files with 12 additions and 1 deletions
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11
libraries/AP_InertialSensor/AP_InertialSensor.cpp
View File

@ -1986,6 +1986,17 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
return result;
}
/*
see if gyro calibration should be performed
*/
AP_InertialSensor::Gyro_Calibration_Timing AP_InertialSensor::gyro_calibration_timing()
{
if (hal.util->was_watchdog_reset()) {
return GYRO_CAL_NEVER;
}
return (Gyro_Calibration_Timing)_gyro_cal_timing.get();
}
namespace AP {

2
libraries/AP_InertialSensor/AP_InertialSensor.h
View File

@ -135,7 +135,7 @@ public:
bool gyro_calibrated_ok(uint8_t instance) const { return _gyro_cal_ok[instance]; }
bool gyro_calibrated_ok_all() const;
bool use_gyro(uint8_t instance) const;
Gyro_Calibration_Timing gyro_calibration_timing() { return (Gyro_Calibration_Timing)_gyro_cal_timing.get(); }
Gyro_Calibration_Timing gyro_calibration_timing();
bool get_accel_health(uint8_t instance) const { return (instance<_accel_count) ? _accel_healthy[instance] : false; }
bool get_accel_health(void) const { return get_accel_health(_primary_accel); }