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AP_InertialSensor: use ahrs singleton for simple accelcal

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Peter Barker 2018-03-17 23:03:13 +11:00 committed by Francisco Ferreira
parent 030a1997f5
commit 2396a248ed
2 changed files with 5 additions and 5 deletions
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8
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -1846,7 +1846,7 @@ bool AP_InertialSensor::get_primary_accel_cal_sample_avg(uint8_t sample_num, Vec
/* /*
perform a simple 1D accel calibration, returning mavlink result code perform a simple 1D accel calibration, returning mavlink result code
*/ */
MAV_RESULT AP_InertialSensor::simple_accel_cal(AP_AHRS &ahrs) MAV_RESULT AP_InertialSensor::simple_accel_cal()
{ {
uint8_t num_accels = MIN(get_accel_count(), INS_MAX_INSTANCES); uint8_t num_accels = MIN(get_accel_count(), INS_MAX_INSTANCES);
Vector3f last_average[INS_MAX_INSTANCES]; Vector3f last_average[INS_MAX_INSTANCES];
@ -1974,7 +1974,7 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal(AP_AHRS &ahrs)
} }
// force trim to zero // force trim to zero
ahrs.set_trim(Vector3f(0, 0, 0)); AP::ahrs().set_trim(Vector3f(0, 0, 0));
} else { } else {
hal.console->printf("\nFAILED\n"); hal.console->printf("\nFAILED\n");
// restore old values // restore old values
@ -1996,8 +1996,8 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal(AP_AHRS &ahrs)
} }
// and reset state estimators // and reset state estimators
ahrs.reset(); AP::ahrs().reset();
// stop flashing leds // stop flashing leds
AP_Notify::flags.initialising = false; AP_Notify::flags.initialising = false;

2
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -268,7 +268,7 @@ public:
void acal_update(); void acal_update();
// simple accel calibration // simple accel calibration
MAV_RESULT simple_accel_cal(AP_AHRS &ahrs); MAV_RESULT simple_accel_cal();
bool accel_cal_requires_reboot() const { return _accel_cal_requires_reboot; } bool accel_cal_requires_reboot() const { return _accel_cal_requires_reboot; }