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AP_AccelCal: make collect_sample responsible for state changes

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Also only set the snoop if the step has changed
This commit is contained in:
Francisco Ferreira 2016-11-12 09:38:40 +00:00 committed by Tom Pittenger
parent 34649ef66a
commit c07f377eb1
1 changed files with 3 additions and 4 deletions
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5
libraries/AP_AccelCal/AP_AccelCal.cpp
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@ -45,8 +45,6 @@ void AP_AccelCal::update()
} }
if(_start_collect_sample) { if(_start_collect_sample) {
collect_sample(); collect_sample();
_gcs->set_snoop(nullptr);
_start_collect_sample = false;
} }
switch(_status) { switch(_status) {
case ACCEL_CAL_NOT_STARTED: case ACCEL_CAL_NOT_STARTED:
@ -96,9 +94,9 @@ void AP_AccelCal::update()
return; return;
} }
_printf("Place vehicle %s and press any key.", msg); _printf("Place vehicle %s and press any key.", msg);
}
// setup snooping of packets so we can see the COMMAND_ACK // setup snooping of packets so we can see the COMMAND_ACK
_gcs->set_snoop(_snoop); _gcs->set_snoop(_snoop);
}
break; break;
} }
case ACCEL_CAL_COLLECTING_SAMPLE: case ACCEL_CAL_COLLECTING_SAMPLE:
@ -246,6 +244,7 @@ void AP_AccelCal::collect_sample()
} }
// setup snooping of packets so we can see the COMMAND_ACK // setup snooping of packets so we can see the COMMAND_ACK
_gcs->set_snoop(nullptr); _gcs->set_snoop(nullptr);
_start_collect_sample = false;
update_status(); update_status();
} }