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Copter: Use the compass calibrator autoreboot behaviour

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(fixes a chance of not saving the second compass)
This commit is contained in:
Michael du Breuil 2016-10-24 22:19:18 -07:00 committed by Andrew Tridgell
parent fd24e944b8
commit 790ddeb04e
1 changed files with 4 additions and 8 deletions
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12
ArduCopter/sensors.cpp
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@ -192,14 +192,6 @@ void Copter::compass_cal_update()
compass.compass_cal_update();
}
#ifdef CAL_ALWAYS_REBOOT
if (compass.compass_cal_requires_reboot()) {
hal.scheduler->delay(1000);
hal.scheduler->reboot(false);
return;
}
#endif
if (compass.is_calibrating()) {
if (channel_yaw->get_control_in() < -4000 && channel_throttle->get_control_in() > 900) {
compass.cancel_calibration_all();
@ -211,7 +203,11 @@ void Copter::compass_cal_update()
if (!stick_gesture_detected) {
compass_cal_stick_gesture_begin = tnow;
} else if (tnow-compass_cal_stick_gesture_begin > 1000*COMPASS_CAL_STICK_GESTURE_TIME) {
#ifdef CAL_ALWAYS_REBOOT
compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,true);
#else
compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,false);
#endif
}
}
}