Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 07:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

Rover: call compass cal routine directly from sched table

Browse Source
This commit is contained in:
Peter Barker 2019-03-25 20:04:08 +11:00 committed by Andrew Tridgell
parent 0e8722181f
commit 47d9960eb9
3 changed files with 1 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
APMrover2/APMrover2.cpp
View File

@ -85,7 +85,7 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300), SCHED_TASK_CLASS(AP_Notify, &rover.notify, update, 50, 300),
SCHED_TASK(one_second_loop, 1, 1500), SCHED_TASK(one_second_loop, 1, 1500),
SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90), SCHED_TASK_CLASS(AC_Sprayer, &rover.g2.sprayer, update, 3, 90),
SCHED_TASK(compass_cal_update, 50, 200), SCHED_TASK_CLASS(Compass, &rover.compass, cal_update, 50, 200),
SCHED_TASK(compass_save, 0.1, 200), SCHED_TASK(compass_save, 0.1, 200),
SCHED_TASK(accel_cal_update, 10, 200), SCHED_TASK(accel_cal_update, 10, 200),
#if LOGGING_ENABLED == ENABLED #if LOGGING_ENABLED == ENABLED

1
APMrover2/Rover.h
View File

@ -463,7 +463,6 @@ private:
// sensors.cpp // sensors.cpp
void init_compass_location(void); void init_compass_location(void);
void update_compass(void); void update_compass(void);
void compass_cal_update(void);
void compass_save(void); void compass_save(void);
void init_beacon(); void init_beacon();
void init_visual_odom(); void init_visual_odom();

7
APMrover2/sensors.cpp
View File

@ -30,13 +30,6 @@ void Rover::update_compass(void)
} }
} }
// Calibrate compass
void Rover::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
// Save compass offsets // Save compass offsets
void Rover::compass_save() { void Rover::compass_save() {
if (AP::compass().enabled() && if (AP::compass().enabled() &&