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Plane: moved accel cal update to vehicle code

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This commit is contained in:
Andrew Tridgell 2021-08-17 12:52:48 +10:00
parent ab36dc0ed9
commit baec0d83f2
3 changed files with 0 additions and 16 deletions
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1
ArduPlane/ArduPlane.cpp
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@ -64,7 +64,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
SCHED_TASK(read_rangefinder, 50, 100), SCHED_TASK(read_rangefinder, 50, 100),
SCHED_TASK_CLASS(AP_ICEngine, &plane.g2.ice_control, update, 10, 100), SCHED_TASK_CLASS(AP_ICEngine, &plane.g2.ice_control, update, 10, 100),
SCHED_TASK_CLASS(Compass, &plane.compass, cal_update, 50, 50), SCHED_TASK_CLASS(Compass, &plane.compass, cal_update, 50, 50),
SCHED_TASK(accel_cal_update, 10, 50),
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update, 50, 50), SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update, 50, 50),
#endif #endif

1
ArduPlane/Plane.h
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@ -1032,7 +1032,6 @@ private:
void read_rangefinder(void); void read_rangefinder(void);
void read_airspeed(void); void read_airspeed(void);
void rpm_update(void); void rpm_update(void);
void accel_cal_update(void);
// system.cpp // system.cpp
void init_ardupilot() override; void init_ardupilot() override;

14
ArduPlane/sensors.cpp
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@ -34,20 +34,6 @@ void Plane::read_rangefinder(void)
rangefinder_height_update(); rangefinder_height_update();
} }
/*
Accel calibration
*/
void Plane::accel_cal_update() {
if (hal.util->get_soft_armed()) {
return;
}
ins.acal_update();
float trim_roll, trim_pitch;
if(ins.get_new_trim(trim_roll, trim_pitch)) {
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
}
}
/* /*
ask airspeed sensor for a new value ask airspeed sensor for a new value
*/ */