mirror of https://github.com/ArduPilot/ardupilot
Copter: removed flash_leds() calls
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95c2e11b5a
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46688454c4
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@ -1188,7 +1188,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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if (packet.param1 == 1 ||
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packet.param2 == 1 ||
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packet.param3 == 1) {
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ins.init_accel(flash_leds);
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ins.init_accel();
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ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
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}
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if (packet.param4 == 1) {
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@ -1198,7 +1198,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
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float trim_roll, trim_pitch;
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// this blocks
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AP_InertialSensor_UserInteract_MAVLink interact(chan);
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if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) {
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if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
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// reset ahrs's trim to suggested values from calibration routine
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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@ -83,10 +83,9 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
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cliSerial->println_P(PSTR("Initialising gyros"));
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ahrs.init();
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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flash_leds);
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ins_sample_rate);
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AP_InertialSensor_UserInteractStream interact(hal.console);
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if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) {
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if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
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// reset ahrs's trim to suggested values from calibration routine
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ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
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}
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@ -660,9 +659,8 @@ setup_accel(uint8_t argc, const Menu::arg *argv)
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{
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ahrs.init();
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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flash_leds);
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ins.init_accel(flash_leds);
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ins_sample_rate);
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ins.init_accel();
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ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
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report_ins();
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return(0);
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@ -273,8 +273,7 @@ static void startup_ground(void)
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// Warm up and read Gyro offsets
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// -----------------------------
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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flash_leds);
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ins_sample_rate);
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#if CLI_ENABLED == ENABLED
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report_ins();
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#endif
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@ -560,16 +559,6 @@ static void check_usb_mux(void)
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}
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}
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/*
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* called by gyro/accel init to flash LEDs so user
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* has some mesmerising lights to watch while waiting
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*/
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void flash_leds(bool on)
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{
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//digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
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//digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
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}
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/*
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* Read Vcc vs 1.1v internal reference
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*/
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@ -177,8 +177,7 @@ test_compass(uint8_t argc, const Menu::arg *argv)
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// we need the AHRS initialised for this test
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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flash_leds);
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ins_sample_rate);
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ahrs.reset();
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int16_t counter = 0;
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float heading = 0;
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@ -277,8 +276,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
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ahrs.init();
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ins.init(AP_InertialSensor::COLD_START,
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ins_sample_rate,
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flash_leds);
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ins_sample_rate);
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cliSerial->printf_P(PSTR("...done\n"));
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delay(50);
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