mirror of https://github.com/ArduPilot/ardupilot
AP_Compass: reduce to if healthy check from if-else
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2fb002798c
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c126017035
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@ -38,22 +38,21 @@ Compass::compass_cal_update()
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bool
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Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay, bool autoreboot)
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{
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if (healthy(i)) {
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memset(_reports_sent,0,sizeof(_reports_sent));
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if (!is_calibrating() && delay > 0.5f) {
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AP_Notify::events.initiated_compass_cal = 1;
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}
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if (i == get_primary()) {
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_calibrator[i].set_tolerance(8);
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} else {
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_calibrator[i].set_tolerance(16);
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}
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_calibrator[i].start(retry, autosave, delay);
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_compass_cal_autoreboot = autoreboot;
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return true;
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} else {
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if (!healthy(i)) {
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return false;
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}
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memset(_reports_sent,0,sizeof(_reports_sent));
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if (!is_calibrating() && delay > 0.5f) {
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AP_Notify::events.initiated_compass_cal = 1;
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}
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if (i == get_primary()) {
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_calibrator[i].set_tolerance(8);
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} else {
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_calibrator[i].set_tolerance(16);
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}
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_calibrator[i].start(retry, autosave, delay);
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_compass_cal_autoreboot = autoreboot;
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return true;
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}
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bool
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@ -1 +1 @@
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Subproject commit 34e1d543e49c2756b8fa4b81ef30468497ea792a
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Subproject commit 51858c810a3cb086d7c2041328bd32adec9fa724
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