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AP_Compass: flag compass cal as long expected delay

This commit is contained in:
Andrew Tridgell 2019-04-11 21:12:20 +10:00 committed by Randy Mackay
parent de2ae7ad24
commit f4d8026d6d
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_Compass/CompassCalibrator.cpp
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@ -780,6 +780,9 @@ bool CompassCalibrator::calculate_orientation(void)
return true; return true;
} }
// this function is very slow
hal.scheduler->expect_delay_ms(1000);
float variance[ROTATION_MAX] {}; float variance[ROTATION_MAX] {};
for (enum Rotation r = ROTATION_NONE; r<ROTATION_MAX; r = (enum Rotation)(r+1)) { for (enum Rotation r = ROTATION_NONE; r<ROTATION_MAX; r = (enum Rotation)(r+1)) {
@ -846,6 +849,8 @@ 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); 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) { if (!pass) {
set_status(COMPASS_CAL_BAD_ORIENTATION); set_status(COMPASS_CAL_BAD_ORIENTATION);
return false; return false;