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ACM: check the return of compass.init()

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if the compass fails to initialise then don't pass it to DCM, or we
will get no yaw control. Report the init failure to the user.
This commit is contained in:
Andrew Tridgell 2012-02-25 14:09:12 +11:00
parent 698749dd92
commit 864ed1a87f
1 changed files with 8 additions and 4 deletions
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12
ArduCopter/sensors.pde
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@ -78,10 +78,14 @@ static int32_t read_barometer(void)
static void init_compass()
{
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
dcm.set_compass(&compass);
compass.init();
compass.get_offsets(); // load offsets to account for airframe magnetic interference
compass.null_offsets_enable();
if (!compass.init()) {
// make sure we don't pass a broken compass to DCM
Serial.println_P(PSTR("COMPASS INIT ERROR"));
return;
}
dcm.set_compass(&compass);
compass.get_offsets(); // load offsets to account for airframe magnetic interference
compass.null_offsets_enable();
}
static void init_optflow()