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AP_Compass_AK8963: move variable declarations before goto

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Siddharth Bharat Purohit 2015-08-28 13:01:24 -07:00 committed by Andrew Tridgell
parent 3fc47b33e8
commit 63973bff31
1 changed files with 4 additions and 3 deletions
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7
libraries/AP_Compass/AP_Compass_AK8963.cpp
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@ -239,6 +239,10 @@ void AP_Compass_AK8963::_update()
{ {
struct AP_AK8963_SerialBus::raw_value rv; struct AP_AK8963_SerialBus::raw_value rv;
float mag_x, mag_y, mag_z; float mag_x, mag_y, mag_z;
// get raw_field - sensor frame, uncorrected
Vector3f raw_field = Vector3f(mag_x, mag_y, mag_z);
uint32_t time_us = hal.scheduler->micros();
if (hal.scheduler->micros() - _last_update_timestamp < 10000) { if (hal.scheduler->micros() - _last_update_timestamp < 10000) {
goto end; goto end;
@ -263,9 +267,6 @@ void AP_Compass_AK8963::_update()
if (is_zero(mag_x) && is_zero(mag_y) && is_zero(mag_z)) { if (is_zero(mag_x) && is_zero(mag_y) && is_zero(mag_z)) {
goto fail; goto fail;
} }
uint32_t time_us = hal.scheduler->micros();
// get raw_field - sensor frame, uncorrected
Vector3f raw_field = Vector3f(mag_x, mag_y, mag_z);
// rotate raw_field from sensor frame to body frame // rotate raw_field from sensor frame to body frame
rotate_field(raw_field, _compass_instance); rotate_field(raw_field, _compass_instance);