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AP_Compass: use EXPECT_DELAY() macro

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This commit is contained in:
Andrew Tridgell 2019-05-11 18:18:21 +10:00
parent b1ed77bee9
commit ecc6f15dc0
1 changed files with 1 additions and 3 deletions
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4
libraries/AP_Compass/CompassCalibrator.cpp
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@ -781,7 +781,7 @@ bool CompassCalibrator::calculate_orientation(void)
}
// this function is very slow
hal.scheduler->expect_delay_ms(1000);
EXPECT_DELAY(hal, 1000);
float variance[ROTATION_MAX] {};
@ -849,8 +849,6 @@ bool CompassCalibrator::calculate_orientation(void)
gcs().send_text(MAV_SEVERITY_INFO, "Mag(%u) new orientation: %u was %u %.1f", _compass_idx, besti, _orientation, (double)_orientation_confidence);
}
hal.scheduler->expect_delay_ms(0);
if (!pass) {
set_status(COMPASS_CAL_BAD_ORIENTATION);
return false;