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AP_InertialSensor: don't check {gyro,accel}_available twice 

That gives a slightly simpler code.
This commit is contained in:
Gustavo Jose de Sousa 2016-07-21 17:27:26 -03:00 committed by Lucas De Marchi
parent 9b390fcc1b
commit cd0d65dc3f
1 changed files with 7 additions and 3 deletions
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10
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1077,17 +1077,21 @@ check_sample:
// accel and gyro. This normally completes immediately. // accel and gyro. This normally completes immediately.
bool gyro_available = false; bool gyro_available = false;
bool accel_available = false; bool accel_available = false;
while (!gyro_available || !accel_available) { while (true) {
for (uint8_t i=0; i<_backend_count; i++) { for (uint8_t i=0; i<_backend_count; i++) {
_backends[i]->accumulate(); _backends[i]->accumulate();
} }
for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<INS_MAX_INSTANCES; i++) {
gyro_available |= _new_gyro_data[i]; gyro_available |= _new_gyro_data[i];
accel_available |= _new_accel_data[i]; accel_available |= _new_accel_data[i];
} }
if (!gyro_available || !accel_available) {
hal.scheduler->delay_microseconds(100); if (gyro_available && accel_available) {
break;
} }
hal.scheduler->delay_microseconds(100);
} }
} }