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CompassCalibrator: remove dependence on AP_Notify

This commit is contained in:
Jonathan Challinger 2015-03-18 17:48:46 -07:00 committed by Andrew Tridgell
parent de600ca3da
commit 5a12991d29
2 changed files with 6 additions and 5 deletions
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9
libraries/AP_Compass/CompassCalibrator.cpp
View File

@ -1,6 +1,5 @@
#include "CompassCalibrator.h"
#include <AP_HAL.h>
#include <AP_Notify.h>
extern const AP_HAL::HAL& hal;
@ -82,7 +81,9 @@ void CompassCalibrator::new_sample(const Vector3f& sample) {
}
}
void CompassCalibrator::run_fit_chunk() {
void CompassCalibrator::update(bool &failure) {
failure = false;
if(!fitting()) {
return;
}
@ -91,6 +92,7 @@ void CompassCalibrator::run_fit_chunk() {
if (_fit_step >= 10) {
if(_fitness == _initial_fitness || isnan(_fitness)) { //if true, means that fitness is diverging instead of converging
set_status(COMPASS_CAL_FAILED);
failure = true;
}
set_status(COMPASS_CAL_RUNNING_STEP_TWO);
} else {
@ -103,6 +105,7 @@ void CompassCalibrator::run_fit_chunk() {
set_status(COMPASS_CAL_SUCCESS);
} else {
set_status(COMPASS_CAL_FAILED);
failure = true;
}
} else if (_fit_step < 15) {
run_sphere_fit();
@ -224,8 +227,6 @@ bool CompassCalibrator::set_status(compass_cal_status_t status) {
return false;
}
AP_Notify::events.compass_cal_failed = 1;
if(_retry && set_status(COMPASS_CAL_WAITING_TO_START)) {
_attempt++;
return true;

2
libraries/AP_Compass/CompassCalibrator.h
View File

@ -23,8 +23,8 @@ public:
void start(bool retry=false, bool autosave=false, float delay=0.0f);
void clear();
void update(bool &failure);
void new_sample(const Vector3f &sample);
void run_fit_chunk();
bool check_for_timeout();