AP_Compass: add samples to calibrator when published

2015-03-18 16:55:22 -07:00 · 2015-03-18 16:55:22 -07:00 · 72c8d0f530
commit 72c8d0f530
parent cc36401b7c
1 changed files with 2 additions and 0 deletions
--- a/libraries/AP_Compass/AP_Compass_Backend.cpp
+++ b/libraries/AP_Compass/AP_Compass_Backend.cpp
@ -47,6 +47,8 @@ void AP_Compass_Backend::publish_raw_field(const Vector3f &mag, uint32_t time_us
    state.raw_meas_time_us = time_us;
    state.updated_raw_field = true;
    state.has_raw_field = true;
+
+    _compass._calibrator[instance].new_sample(mag);
 }

 void AP_Compass_Backend::correct_field(Vector3f &mag, uint8_t i)