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AP_Compass: get_time_flying in vehicle

This commit is contained in:
Peter Hall 2020-01-06 23:06:54 +00:00 committed by WickedShell
parent 89241d25fd
commit c870df0351
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_Compass/Compass_learn.cpp
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@ -9,6 +9,7 @@
#include <GCS_MAVLink/GCS.h>
#include <stdio.h>
#include <AP_Vehicle/AP_Vehicle.h>
#if COMPASS_LEARN_ENABLED
@ -33,14 +34,15 @@ CompassLearn::CompassLearn(Compass &_compass) :
*/
void CompassLearn::update(void)
{
const AP_AHRS &ahrs = AP::ahrs();
const AP_Vehicle *vehicle = AP::vehicle();
if (converged || compass.get_learn_type() != Compass::LEARN_INFLIGHT ||
!hal.util->get_soft_armed() || ahrs.get_time_flying_ms() < 3000) {
!hal.util->get_soft_armed() || vehicle->get_time_flying_ms() < 3000) {
// only learn when flying and with enough time to be clear of
// the ground
return;
}
const AP_AHRS &ahrs = AP::ahrs();
if (!have_earth_field) {
Location loc;
if (!ahrs.get_position(loc)) {