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AP_Compass: ignore first two readings in a clearer way

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This way we don't mix two different conditionals: settling and data validation.
This commit is contained in:
Staroselskii Georgii 2015-07-23 16:29:39 +03:00 committed by Andrew Tridgell
parent 633330db14
commit 3eb6be64c9
1 changed files with 6 additions and 2 deletions
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8
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -328,14 +328,18 @@ bool AP_Compass_HMC5843::_calibrate(uint8_t calibration_gain,
// strap excitation. After that we accept values in a
// reasonable range
if (numAttempts <= 2) {
continue;
}
#define IS_CALIBRATION_VALUE_VALID(val) (val > 0.7f && val < 1.35f)
if (numAttempts > 2 &&
IS_CALIBRATION_VALUE_VALID(cal[0]) &&
if (IS_CALIBRATION_VALUE_VALID(cal[0]) &&
IS_CALIBRATION_VALUE_VALID(cal[1]) &&
IS_CALIBRATION_VALUE_VALID(cal[2])) {
// hal.console->printf_P(PSTR("car=%.2f %.2f %.2f good\n"), cal[0], cal[1], cal[2]);
good_count++;
_scaling[0] += cal[0];
_scaling[1] += cal[1];
_scaling[2] += cal[2];