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AP_Compass: refactor run_fit_chunk logic

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Jonathan Challinger 2015-03-11 23:52:44 -07:00 committed by Andrew Tridgell
parent f2acf2cb88
commit 6d45660568
1 changed files with 11 additions and 11 deletions
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22
libraries/AP_Compass/CompassCalibrator.cpp
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@ -88,29 +88,29 @@ void CompassCalibrator::run_fit_chunk() {
}
if(_status == COMPASS_CAL_RUNNING_STEP_ONE) {
if(_fit_step < 10) {
run_sphere_fit();
_fit_step++;
} else {
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);
}
set_status(COMPASS_CAL_RUNNING_STEP_TWO);
} else {
run_sphere_fit();
_fit_step++;
}
} else if(_status == COMPASS_CAL_RUNNING_STEP_TWO) {
if(_fit_step < 15) {
run_sphere_fit();
} else if(_fit_step < 35) {
run_ellipsoid_fit();
} else {
if (_fit_step >= 35) {
if(fit_acceptable()) {
set_status(COMPASS_CAL_SUCCESS);
} else {
set_status(COMPASS_CAL_FAILED);
}
} else if (_fit_step < 15) {
run_sphere_fit();
_fit_step++;
} else {
run_ellipsoid_fit();
_fit_step++;
}
_fit_step++;
}
}