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Copter: removed flash_leds() calls

This commit is contained in:
Andrew Tridgell 2013-09-19 18:33:21 +10:00
parent 95c2e11b5a
commit 46688454c4
4 changed files with 9 additions and 24 deletions
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4
ArduCopter/GCS_Mavlink.pde
View File

@ -1188,7 +1188,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
if (packet.param1 == 1 ||
packet.param2 == 1 ||
packet.param3 == 1) {
ins.init_accel(flash_leds);
ins.init_accel();
ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
}
if (packet.param4 == 1) {
@ -1198,7 +1198,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
float trim_roll, trim_pitch;
// this blocks
AP_InertialSensor_UserInteract_MAVLink interact(chan);
if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) {
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}

10
ArduCopter/setup.pde
View File

@ -83,10 +83,9 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
cliSerial->println_P(PSTR("Initialising gyros"));
ahrs.init();
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
ins_sample_rate);
AP_InertialSensor_UserInteractStream interact(hal.console);
if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) {
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
// reset ahrs's trim to suggested values from calibration routine
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
@ -660,9 +659,8 @@ setup_accel(uint8_t argc, const Menu::arg *argv)
{
ahrs.init();
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
ins.init_accel(flash_leds);
ins_sample_rate);
ins.init_accel();
ahrs.set_trim(Vector3f(0,0,0)); // clear out saved trim
report_ins();
return(0);

13
ArduCopter/system.pde
View File

@ -273,8 +273,7 @@ static void startup_ground(void)
// Warm up and read Gyro offsets
// -----------------------------
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
ins_sample_rate);
#if CLI_ENABLED == ENABLED
report_ins();
#endif
@ -560,16 +559,6 @@ static void check_usb_mux(void)
}
}
/*
* called by gyro/accel init to flash LEDs so user
* has some mesmerising lights to watch while waiting
*/
void flash_leds(bool on)
{
//digitalWrite(A_LED_PIN, on ? LED_OFF : LED_ON);
//digitalWrite(C_LED_PIN, on ? LED_ON : LED_OFF);
}
/*
* Read Vcc vs 1.1v internal reference
*/

6
ArduCopter/test.pde
View File

@ -177,8 +177,7 @@ test_compass(uint8_t argc, const Menu::arg *argv)
// we need the AHRS initialised for this test
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
ins_sample_rate);
ahrs.reset();
int16_t counter = 0;
float heading = 0;
@ -277,8 +276,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
ahrs.init();
ins.init(AP_InertialSensor::COLD_START,
ins_sample_rate,
flash_leds);
ins_sample_rate);
cliSerial->printf_P(PSTR("...done\n"));
delay(50);