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AP_InertialSensor: prevent nested accelerometer calibration

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This commit is contained in:
Andrew Tridgell 2015-03-15 15:22:59 +11:00
parent 1c1798fb11
commit cf2445dc97
1 changed files with 9 additions and 0 deletions
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9
libraries/AP_InertialSensor/AP_InertialSensor.cpp
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@ -447,6 +447,13 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
Vector3f orig_scale[INS_MAX_INSTANCES];
uint8_t num_ok = 0;
// exit immediately if calibration is already in progress
if (_calibrating) {
return false;
}
_calibrating = true;
/*
we do the accel calibration with no board rotation. This avoids
having to rotate readings during the calibration
@ -566,6 +573,7 @@ bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact
_board_orientation = saved_orientation;
_calibrating = false;
return true;
}
@ -577,6 +585,7 @@ failed:
_accel_scale[k].set(orig_scale[k]);
}
_board_orientation = saved_orientation;
_calibrating = false;
return false;
}
#endif