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Copter: init_compass get g.compass_enabled check 

No functional change
This commit is contained in:
Randy Mackay 2017-06-07 10:27:42 +09:00
parent ac8234cdf0
commit ec491d3c6b
2 changed files with 5 additions and 2 deletions
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4
ArduCopter/sensors.cpp
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@ -100,6 +100,10 @@ void Copter::rpm_update(void)
// initialise compass // initialise compass
void Copter::init_compass() void Copter::init_compass()
{ {
if (!g.compass_enabled) {
return;
}
if (!compass.init() || !compass.read()) { if (!compass.init() || !compass.read()) {
// make sure we don't pass a broken compass to DCM // make sure we don't pass a broken compass to DCM
cliSerial->printf("COMPASS INIT ERROR\n"); cliSerial->printf("COMPASS INIT ERROR\n");

3
ArduCopter/system.cpp
View File

@ -207,8 +207,7 @@ void Copter::init_ardupilot()
// Do GPS init // Do GPS init
gps.init(&DataFlash, serial_manager); gps.init(&DataFlash, serial_manager);
if(g.compass_enabled) init_compass();
init_compass();
#if OPTFLOW == ENABLED #if OPTFLOW == ENABLED
// make optflow available to AHRS // make optflow available to AHRS