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AP_Compass: reduce to if healthy check from if-else

This commit is contained in:
Siddharth Bharat Purohit 2015-09-02 14:58:05 -07:00 committed by Andrew Tridgell
parent 2fb002798c
commit c126017035
2 changed files with 14 additions and 15 deletions
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27
libraries/AP_Compass/AP_Compass_Calibration.cpp
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@ -38,22 +38,21 @@ Compass::compass_cal_update()
bool bool
Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay, bool autoreboot) Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay, bool autoreboot)
{ {
if (healthy(i)) { if (!healthy(i)) {
memset(_reports_sent,0,sizeof(_reports_sent));
if (!is_calibrating() && delay > 0.5f) {
AP_Notify::events.initiated_compass_cal = 1;
}
if (i == get_primary()) {
_calibrator[i].set_tolerance(8);
} else {
_calibrator[i].set_tolerance(16);
}
_calibrator[i].start(retry, autosave, delay);
_compass_cal_autoreboot = autoreboot;
return true;
} else {
return false; return false;
} }
memset(_reports_sent,0,sizeof(_reports_sent));
if (!is_calibrating() && delay > 0.5f) {
AP_Notify::events.initiated_compass_cal = 1;
}
if (i == get_primary()) {
_calibrator[i].set_tolerance(8);
} else {
_calibrator[i].set_tolerance(16);
}
_calibrator[i].start(retry, autosave, delay);
_compass_cal_autoreboot = autoreboot;
return true;
} }
bool bool

2
modules/PX4Firmware

@ -1 +1 @@
Subproject commit 34e1d543e49c2756b8fa4b81ef30468497ea792a Subproject commit 51858c810a3cb086d7c2041328bd32adec9fa724