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Sub: call compass cal routine directly from sched table

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This commit is contained in:
Peter Barker 2019-03-25 20:25:22 +11:00 committed by Andrew Tridgell
parent ad16f31e11
commit c6a9130d84
3 changed files with 1 additions and 9 deletions
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2
ArduSub/ArduSub.cpp
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@ -55,7 +55,7 @@ const AP_Scheduler::Task Sub::scheduler_tasks[] = {
#if RPM_ENABLED == ENABLED
SCHED_TASK(rpm_update, 10, 200),
#endif
SCHED_TASK(compass_cal_update, 100, 100),
SCHED_TASK_CLASS(Compass, &sub.compass, cal_update, 100, 100),
SCHED_TASK(accel_cal_update, 10, 100),
SCHED_TASK(terrain_update, 10, 100),
#if GRIPPER_ENABLED == ENABLED

1
ArduSub/Sub.h
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@ -455,7 +455,6 @@ private:
static const struct LogStructure log_structure[];
void init_compass_location();
void compass_cal_update(void);
void fast_loop();
void fifty_hz_loop();
void update_batt_compass(void);

7
ArduSub/sensors.cpp
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@ -104,13 +104,6 @@ void Sub::init_optflow()
}
#endif // OPTFLOW == ENABLED
void Sub::compass_cal_update()
{
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
void Sub::accel_cal_update()
{
if (hal.util->get_soft_armed()) {