IMU: update ACM and APM for flash_leds change in IMU init

ArduCopter/GCS_Mavlink.pde

@@ -845,7 +845,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 					break;
 
 				case MAV_ACTION_CALIBRATE_ACC:
-					imu.init_accel(mavlink_delay);
+					imu.init_accel(mavlink_delay, flash_leds);
 					result=1;
 					break;
 

ArduCopter/motors.pde

@@ -42,7 +42,7 @@ static void arm_motors()
 			//Serial.printf("\nLEV\n");
 
 			// begin manual leveling
-			imu.init_accel(mavlink_delay);
+			imu.init_accel(mavlink_delay, flash_leds);
 			arming_counter = 0;
 
 		}else if (arming_counter == DISARM_DELAY){

ArduCopter/setup.pde

@@ -245,8 +245,8 @@ setup_motors(uint8_t argc, const Menu::arg *argv)
 static int8_t
 setup_accel(uint8_t argc, const Menu::arg *argv)
 {
-  imu.init(IMU::COLD_START, delay, &timer_scheduler);
-	imu.init_accel();
+    imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
+	imu.init_accel(delay, flash_leds);
 	print_accel_offsets();
 	report_imu();
 	return(0);

ArduCopter/system.pde

@@ -389,7 +389,7 @@ static void startup_ground(void)
 	#if HIL_MODE != HIL_MODE_ATTITUDE
 		// Warm up and read Gyro offsets
 		// -----------------------------
-		imu.init(IMU::COLD_START, mavlink_delay, &timer_scheduler);
+        imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
 		#if CLI_ENABLED == ENABLED
 			report_imu();
 		#endif
@@ -655,3 +655,13 @@ static void check_usb_mux(void)
     }
 }
 #endif
+
+/*
+  called by gyro/accel init to flash LEDs so user
+  has some mesmerising lights to watch while waiting
+ */
+void flash_leds(bool on)
+{
+    digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
+    digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
+}

ArduCopter/test.pde

@@ -484,10 +484,10 @@ test_imu(uint8_t argc, const Menu::arg *argv)
   Vector3f gyro;
   Vector3f accel;
 
-  imu.init(IMU::WARM_START, delay, &timer_scheduler);
+  imu.init(IMU::WARM_START, delay, flash_leds, &timer_scheduler);
 
 	report_imu();
-	imu.init_gyro();
+	imu.init_gyro(delay, flash_leds);
 	report_imu();
 
 	print_hit_enter();
@@ -524,10 +524,10 @@ test_dcm_eulers(uint8_t argc, const Menu::arg *argv)
 	//dcm.kp_yaw(0.02);
 	//dcm.ki_yaw(0);
 
-    imu.init(IMU::WARM_START, delay, &timer_scheduler);
+    imu.init(IMU::WARM_START, delay, flash_leds, &timer_scheduler);
 
 	report_imu();
-	imu.init_gyro();
+	imu.init_gyro(delay, flash_leds);
 	report_imu();
 
 	print_hit_enter();

ArduPlane/system.pde

@@ -261,7 +261,7 @@ static void init_ardupilot()
 		//----------------
 		//read_EEPROM_airstart_critical();
 #if HIL_MODE != HIL_MODE_ATTITUDE
-		imu.init(IMU::WARM_START, mavlink_delay, &timer_scheduler);
+		imu.init(IMU::WARM_START, mavlink_delay, flash_leds, &timer_scheduler);
 		dcm.set_centripetal(1);
 #endif
 
@@ -455,8 +455,8 @@ static void startup_IMU_ground(void)
     gcs_send_text_P(SEVERITY_MEDIUM, PSTR("Beginning IMU calibration; do not move plane"));
 	mavlink_delay(1000);
 
-	imu.init(IMU::COLD_START, mavlink_delay, &timer_scheduler);
-	imu.init_accel(mavlink_delay);
+	imu.init(IMU::COLD_START, mavlink_delay, flash_leds, &timer_scheduler);
+	imu.init_accel(mavlink_delay, flash_leds);
 	dcm.set_centripetal(1);
 
 	// read Baro pressure at ground
@@ -556,3 +556,14 @@ static void check_usb_mux(void)
     }
 }
 #endif
+
+
+/*
+  called by gyro/accel init to flash LEDs so user
+  has some mesmerising lights to watch while waiting
+ */
+void flash_leds(bool on)
+{
+    digitalWrite(A_LED_PIN, on?LED_OFF:LED_ON);
+    digitalWrite(C_LED_PIN, on?LED_ON:LED_OFF);
+}

ArduPlane/test.pde

@@ -505,7 +505,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
 	//Serial.printf_P(PSTR("Calibrating."));
     isr_registry.init();
     timer_scheduler.init( &isr_registry );
-	imu.init(IMU::COLD_START, delay, &timer_scheduler);
+	imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
 
 	print_hit_enter();
 	delay(1000);
@@ -568,7 +568,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
     // we need the DCM initialised for this test
     isr_registry.init();
     timer_scheduler.init( &isr_registry );
-	imu.init(IMU::COLD_START, delay, &timer_scheduler);
+	imu.init(IMU::COLD_START, delay, flash_leds, &timer_scheduler);
 
 	int counter = 0;
 		//Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);