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Copter: remove gyro cal on first arming

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This commit is contained in:
Randy Mackay 2015-10-15 15:07:12 +09:00
parent b751d2bb18
commit d03489263d
1 changed files with 0 additions and 20 deletions
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20
ArduCopter/motors.cpp
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@ -120,11 +120,6 @@ void Copter::auto_disarm_check()
// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
bool Copter::init_arm_motors(bool arming_from_gcs)
{
// arming marker
// Flag used to track if we have armed the motors the first time.
// This is used to decide if we should run the ground_start routine
// which calibrates the IMU
static bool did_gyro_cal = false;
static bool in_arm_motors = false;
// exit immediately if already in this function
@ -173,21 +168,6 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
}
calc_distance_and_bearing();
// gyro calibration on first arming
if ((did_gyro_cal == false) && (ins.gyro_calibration_timing() == AP_InertialSensor::GYRO_CAL_STARTUP_AND_FIRST_BOOT)) {
if (!calibrate_gyros()) {
// final check that gyros calibrated successfully
if (((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_INS))) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("Arm: Gyro calibration failed"));
AP_Notify::flags.armed = false;
failsafe_enable();
in_arm_motors = false;
return false;
}
}
did_gyro_cal = true;
}
#if FRAME_CONFIG == HELI_FRAME
// helicopters are always using motor interlock
set_using_interlock(true);