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ArduCopter: some fixes

This commit is contained in:
Pat Hickey 2012-12-12 17:44:29 -08:00 committed by Andrew Tridgell
parent 13c044ab3e
commit 8b49208771
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/sensors.pde
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@ -10,16 +10,16 @@ static void ReadSCP1000(void) {
static void init_sonar(void)
{
#if CONFIG_SONAR_SOURCE == SONAR_SOURCE_ADC
sonar.calculate_scaler(g.sonar_type, 3.3);
sonar->calculate_scaler(g.sonar_type, 3.3);
#else
sonar.calculate_scaler(g.sonar_type, 5.0);
sonar->calculate_scaler(g.sonar_type, 5.0);
#endif
}
#endif
static void init_barometer(void)
{
barometer.calibrate(mavlink_delay);
barometer.calibrate();
ahrs.set_barometer(&barometer);
gcs_send_text_P(SEVERITY_LOW, PSTR("barometer calibration complete"));
}
@ -51,12 +51,12 @@ static void init_compass()
static void init_optflow()
{
#if OPTFLOW == ENABLED
if( optflow.init(false, &timer_scheduler, &spi_semaphore, &spi3_semaphore) == false ) {
if( optflow.init() == false ) {
g.optflow_enabled = false;
cliSerial->print_P(PSTR("\nFailed to Init OptFlow "));
}else{
// suspend timer while we set-up SPI communication
timer_scheduler.suspend_timer();
hal.scheduler->suspend_timer_procs();
optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
optflow.set_frame_rate(2000); // set minimum update rate (which should lead to maximum low light performance
@ -64,7 +64,7 @@ static void init_optflow()
optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
// resume timer
timer_scheduler.resume_timer();
hal.scheduler->resume_timer_procs();
}
#endif // OPTFLOW == ENABLED
}