From 23ddd994ec5a633050daff4be3dd87e12e57f77f Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 20 Oct 2018 10:43:49 +1100 Subject: [PATCH] AP_Compass: allow multiple COMPASS_LEARN runs per boot --- libraries/AP_Compass/Compass_learn.cpp | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) diff --git a/libraries/AP_Compass/Compass_learn.cpp b/libraries/AP_Compass/Compass_learn.cpp index 4b4bae5242..79272809ed 100644 --- a/libraries/AP_Compass/Compass_learn.cpp +++ b/libraries/AP_Compass/Compass_learn.cpp @@ -141,7 +141,16 @@ void CompassLearn::update(void) } } compass.set_learn_type(Compass::LEARN_NONE, true); - converged = true; + // setup so use can trigger it again + converged = false; + sample_available = false; + num_samples = 0; + have_earth_field = false; + memset(predicted_offsets, 0, sizeof(predicted_offsets)); + worst_error = 0; + best_error = 0; + best_yaw_deg = 0; + best_offsets.zero(); gcs().send_text(MAV_SEVERITY_INFO, "CompassLearn: finished"); } }