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Copter: remove compassmot's compass init and accumulate

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when compass mot is started, the main loop has been running so the compass will already have been initialised and have good readings
Also remove unnecessary call to get_primary compass
This commit is contained in:
Randy Mackay 2018-08-02 11:36:52 +09:00
parent 6b50a810f6
commit f30d999e0b
1 changed files with 1 additions and 8 deletions
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9
ArduCopter/compassmot.cpp
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@ -82,9 +82,6 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
// disable cpu failsafe
failsafe_disable();
// initialise compass
init_compass();
// default compensation type to use current if possible
if (battery.has_current()) {
comp_type = AP_COMPASS_MOT_COMP_CURRENT;
@ -118,10 +115,6 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
}
// get initial compass readings
last_run_time = millis();
while ( millis() - last_run_time < 500 ) {
compass.accumulate();
}
compass.read();
// store initial x,y,z compass values
@ -141,7 +134,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
last_send_time = millis();
// main run while there is no user input and the compass is healthy
while (command_ack_start == command_ack_counter && compass.healthy(compass.get_primary()) && motors->armed()) {
while (command_ack_start == command_ack_counter && compass.healthy() && motors->armed()) {
// 50hz loop
if (millis() - last_run_time < 20) {
// grab some compass values