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Blimp: remove stick gesture compass cal start and stop

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Iampete1 2021-08-19 12:19:12 +01:00 committed by Randy Mackay
parent 0895cf0a07
commit ee5ff413a9
3 changed files with 1 additions and 33 deletions
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2
Blimp/Blimp.cpp
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@ -56,7 +56,7 @@ const AP_Scheduler::Task Blimp::scheduler_tasks[] = {
#endif #endif
SCHED_TASK_CLASS(AP_InertialSensor, &blimp.ins, periodic, 400, 50), SCHED_TASK_CLASS(AP_InertialSensor, &blimp.ins, periodic, 400, 50),
SCHED_TASK_CLASS(AP_Scheduler, &blimp.scheduler, update_logging, 0.1, 75), SCHED_TASK_CLASS(AP_Scheduler, &blimp.scheduler, update_logging, 0.1, 75),
SCHED_TASK(compass_cal_update, 100, 100), SCHED_TASK_CLASS(Compass, &blimp.compass, cal_update, 100, 100),
SCHED_TASK(accel_cal_update, 10, 100), SCHED_TASK(accel_cal_update, 10, 100),
#if STATS_ENABLED == ENABLED #if STATS_ENABLED == ENABLED
SCHED_TASK_CLASS(AP_Stats, &blimp.g2.stats, update, 1, 100), SCHED_TASK_CLASS(AP_Stats, &blimp.g2.stats, update, 1, 100),

1
Blimp/Blimp.h
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@ -429,7 +429,6 @@ private:
bool rangefinder_up_ok(); bool rangefinder_up_ok();
void rpm_update(); void rpm_update();
void update_optical_flow(void); void update_optical_flow(void);
void compass_cal_update(void);
void accel_cal_update(void); void accel_cal_update(void);
void init_proximity(); void init_proximity();
void update_proximity(); void update_proximity();

31
Blimp/sensors.cpp
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@ -8,37 +8,6 @@ void Blimp::read_barometer(void)
baro_alt = barometer.get_altitude() * 100.0f; baro_alt = barometer.get_altitude() * 100.0f;
} }
void Blimp::compass_cal_update()
{
compass.cal_update();
if (hal.util->get_soft_armed()) {
return;
}
static uint32_t compass_cal_stick_gesture_begin = 0;
if (compass.is_calibrating()) {
if (channel_yaw->get_control_in() < -4000 && channel_down->get_control_in() > 900) {
compass.cancel_calibration_all();
}
} else {
bool stick_gesture_detected = compass_cal_stick_gesture_begin != 0 && !motors->armed() && channel_yaw->get_control_in() > 4000 && channel_down->get_control_in() > 900;
uint32_t tnow = millis();
if (!stick_gesture_detected) {
compass_cal_stick_gesture_begin = tnow;
} else if (tnow-compass_cal_stick_gesture_begin > 1000*COMPASS_CAL_STICK_GESTURE_TIME) {
#ifdef CAL_ALWAYS_REBOOT
compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,true);
#else
compass.start_calibration_all(true,true,COMPASS_CAL_STICK_DELAY,false);
#endif
}
}
}
void Blimp::accel_cal_update() void Blimp::accel_cal_update()
{ {
if (hal.util->get_soft_armed()) { if (hal.util->get_soft_armed()) {