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AP_Arming: use compass get_{field,offsets}() functions

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Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
This commit is contained in:
Gustavo Jose de Sousa 2015-09-28 16:56:17 -03:00 committed by Randy Mackay
parent 84f811fe76
commit 9a2808a593
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_Arming/AP_Arming.cpp
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@ -256,7 +256,7 @@ bool AP_Arming::compass_checks(bool report)
}
// check for unreasonable compass offsets
Vector3f offsets = _compass.get_offsets_milligauss();
Vector3f offsets = _compass.get_offsets();
if (offsets.length() > 600) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Compass offsets too high"));
@ -271,7 +271,7 @@ bool AP_Arming::compass_checks(bool report)
#endif
// check for unreasonable mag field length
float mag_field = _compass.get_field_milligauss().length();
float mag_field = _compass.get_field().length();
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
if (report) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_CRITICAL, PSTR("PreArm: Check mag field"));