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AP_Compass: send report if we are in the BAD_RADIUS state

This commit is contained in:
Peter Barker 2022-10-05 13:07:18 +11:00 committed by Peter Barker
parent 272e719a14
commit dc85169cb1
1 changed files with 12 additions and 6 deletions
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18
libraries/AP_Compass/AP_Compass_Calibration.cpp
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@ -291,10 +291,18 @@ bool Compass::send_mag_cal_report(const GCS_MAVLINK& link)
continue;
}
const CompassCalibrator::Report cal_report = _calibrator[compass_id]->get_report();
if (cal_report.status == CompassCalibrator::Status::SUCCESS ||
cal_report.status == CompassCalibrator::Status::FAILED ||
cal_report.status == CompassCalibrator::Status::BAD_ORIENTATION) {
switch (cal_report.status) {
case CompassCalibrator::Status::NOT_STARTED:
case CompassCalibrator::Status::WAITING_TO_START:
case CompassCalibrator::Status::RUNNING_STEP_ONE:
case CompassCalibrator::Status::RUNNING_STEP_TWO:
// calibration has not finished ergo no report
next_cal_report_idx[chan] = compass_id;
continue;
case CompassCalibrator::Status::SUCCESS:
case CompassCalibrator::Status::FAILED:
case CompassCalibrator::Status::BAD_ORIENTATION:
case CompassCalibrator::Status::BAD_RADIUS:
// ensure we don't try to send with no space available
if (!HAVE_PAYLOAD_SPACE(chan, MAG_CAL_REPORT)) {
return false;
@ -317,8 +325,6 @@ bool Compass::send_mag_cal_report(const GCS_MAVLINK& link)
cal_report.orientation,
cal_report.scale_factor
);
} else {
next_cal_report_idx[chan] = compass_id;
}
}
return true;