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AP_Compass: HMC5843: remove useless delay

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There's no need to add a delay after suspending timer in the
initialization. Also initialize _bus_sem earlier, like is done in
AK8963.
This commit is contained in:
Lucas De Marchi 2015-08-10 15:28:05 -03:00 committed by Andrew Tridgell
parent c66c9c41f2
commit 9ecd1daf81
1 changed files with 2 additions and 3 deletions
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libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -244,10 +244,9 @@ AP_Compass_HMC5843::init()
uint16_t expected_yz = 715; uint16_t expected_yz = 715;
float gain_multiple = 1.0; float gain_multiple = 1.0;
hal.scheduler->suspend_timer_procs();
hal.scheduler->delay(10);
_bus_sem = _bus->get_semaphore(); _bus_sem = _bus->get_semaphore();
hal.scheduler->suspend_timer_procs();
if (!_bus_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) { if (!_bus_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
hal.scheduler->panic(PSTR("Failed to get HMC5843 semaphore")); hal.scheduler->panic(PSTR("Failed to get HMC5843 semaphore"));
} }