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Copter: add CAL_ALWAYS_REBOOT option

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This commit is contained in:
Jonathan Challinger 2016-01-05 16:23:16 -08:00 committed by Randy Mackay
parent 60bd7de2d7
commit d916413a15
1 changed files with 13 additions and 0 deletions
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13
ArduCopter/sensors.cpp
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@ -179,6 +179,12 @@ void Copter::compass_cal_update()
if (!hal.util->get_soft_armed()) { if (!hal.util->get_soft_armed()) {
compass.compass_cal_update(); compass.compass_cal_update();
} }
#ifdef CAL_ALWAYS_REBOOT
if (compass.compass_cal_requires_reboot()) {
hal.scheduler->delay(1000);
hal.scheduler->reboot(false);
}
#endif
} }
void Copter::accel_cal_update() void Copter::accel_cal_update()
@ -192,6 +198,13 @@ void Copter::accel_cal_update()
if(ins.get_new_trim(trim_roll, trim_pitch)) { if(ins.get_new_trim(trim_roll, trim_pitch)) {
ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0)); ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
} }
#ifdef CAL_ALWAYS_REBOOT
if (ins.accel_cal_requires_reboot()) {
hal.scheduler->delay(1000);
hal.scheduler->reboot(false);
}
#endif
} }
#if EPM_ENABLED == ENABLED #if EPM_ENABLED == ENABLED