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AP_Compass: get_time_flying in vehicle

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Peter Hall 2020-01-06 23:06:54 +00:00 committed by WickedShell
parent 89241d25fd
commit c870df0351
1 changed files with 4 additions and 2 deletions
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6
libraries/AP_Compass/Compass_learn.cpp
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@ -9,6 +9,7 @@
#include <GCS_MAVLink/GCS.h> #include <GCS_MAVLink/GCS.h>
#include <stdio.h> #include <stdio.h>
#include <AP_Vehicle/AP_Vehicle.h>
#if COMPASS_LEARN_ENABLED #if COMPASS_LEARN_ENABLED
@ -33,14 +34,15 @@ CompassLearn::CompassLearn(Compass &_compass) :
*/ */
void CompassLearn::update(void) void CompassLearn::update(void)
{ {
const AP_AHRS &ahrs = AP::ahrs(); const AP_Vehicle *vehicle = AP::vehicle();
if (converged || compass.get_learn_type() != Compass::LEARN_INFLIGHT || if (converged || compass.get_learn_type() != Compass::LEARN_INFLIGHT ||
!hal.util->get_soft_armed() || ahrs.get_time_flying_ms() < 3000) { !hal.util->get_soft_armed() || vehicle->get_time_flying_ms() < 3000) {
// only learn when flying and with enough time to be clear of // only learn when flying and with enough time to be clear of
// the ground // the ground
return; return;
} }
const AP_AHRS &ahrs = AP::ahrs();
if (!have_earth_field) { if (!have_earth_field) {
Location loc; Location loc;
if (!ahrs.get_position(loc)) { if (!ahrs.get_position(loc)) {