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AP_Compass: fix calibrator update when step one fails

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Randy Mackay 2019-11-19 19:12:21 +09:00 committed by Andrew Tridgell
parent d9fde84ccb
commit b87f42bc07
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_Compass/CompassCalibrator.cpp
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@ -203,8 +203,9 @@ void CompassCalibrator::update(bool &failure)
if (is_equal(_fitness, _initial_fitness) || isnan(_fitness)) { // if true, means that fitness is diverging instead of converging if (is_equal(_fitness, _initial_fitness) || isnan(_fitness)) { // if true, means that fitness is diverging instead of converging
set_status(COMPASS_CAL_FAILED); set_status(COMPASS_CAL_FAILED);
failure = true; failure = true;
} else {
set_status(COMPASS_CAL_RUNNING_STEP_TWO);
} }
set_status(COMPASS_CAL_RUNNING_STEP_TWO);
} else { } else {
if (_fit_step == 0) { if (_fit_step == 0) {
calc_initial_offset(); calc_initial_offset();