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AP_Compass: remove user of timesliced logic

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This commit is contained in:
Lucas De Marchi 2017-07-31 12:29:43 -07:00
parent 0a158f6d3f
commit 6bab28397a
2 changed files with 3 additions and 5 deletions
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7
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -170,7 +170,7 @@ bool AP_Compass_AK8963::init()
/* timer needs to be called every 10ms so set the freq_div to 10 */
if (!_bus->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update, void))) {
// fallback to timer
_timesliced = hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update_timer, void), 10);
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_AK8963::_update_timer, void));
}
return true;
@ -272,7 +272,7 @@ void AP_Compass_AK8963::_update_timer()
{
uint32_t now = AP_HAL::micros();
if (!_timesliced && now - _last_update_timestamp < 10000) {
if (now - _last_update_timestamp < 10000) {
return;
}
@ -281,9 +281,8 @@ void AP_Compass_AK8963::_update_timer()
}
_update();
_last_update_timestamp = now;
_bus->get_semaphore()->give();
}

1
libraries/AP_Compass/AP_Compass_AK8963.h
View File

@ -64,7 +64,6 @@ private:
uint8_t _compass_instance;
bool _initialized;
bool _timesliced;
enum Rotation _rotation;
};