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INS: set gyro_cal_ok only after completing calibration

This commit is contained in:
Randy Mackay 2015-03-09 13:21:43 +09:00 committed by Andrew Tridgell
parent b8ab87ea86
commit b0e7990c90
1 changed files with 2 additions and 6 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -716,7 +716,6 @@ AP_InertialSensor::_init_gyro()
best_diff[k] = 0; best_diff[k] = 0;
last_average[k].zero(); last_average[k].zero();
converged[k] = false; converged[k] = false;
_gyro_cal_ok[k] = true; // default calibration ok flag to true
} }
for(int8_t c = 0; c < 5; c++) { for(int8_t c = 0; c < 5; c++) {
@ -794,11 +793,6 @@ AP_InertialSensor::_init_gyro()
// stop flashing leds // stop flashing leds
AP_Notify::flags.initialising = false; AP_Notify::flags.initialising = false;
if (num_converged == num_gyros) {
// all OK
return;
}
// we've kept the user waiting long enough - use the best pair we // we've kept the user waiting long enough - use the best pair we
// found so far // found so far
hal.console->println(); hal.console->println();
@ -809,6 +803,8 @@ AP_InertialSensor::_init_gyro()
_gyro_offset[k] = best_avg[k]; _gyro_offset[k] = best_avg[k];
// flag calibration as failed for this gyro // flag calibration as failed for this gyro
_gyro_cal_ok[k] = false; _gyro_cal_ok[k] = false;
} else {
_gyro_cal_ok[k] = true;
} }
} }
} }