From d99c836360a56a87da613546e0aaa5c38484fe20 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 11 Jul 2019 14:23:22 +1000
Subject: [PATCH] Tracker: tidy compass offset saving
---
AntennaTracker/AntennaTracker.cpp | 8 +-------
AntennaTracker/Tracker.h | 1 -
2 files changed, 1 insertion(+), 8 deletions(-)
diff --git a/AntennaTracker/AntennaTracker.cpp b/AntennaTracker/AntennaTracker.cpp
index f4339b4bc7..73f456919d 100644
--- a/AntennaTracker/AntennaTracker.cpp
+++ b/AntennaTracker/AntennaTracker.cpp
@@ -37,6 +37,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
SCHED_TASK(update_tracking, 50, 1000),
SCHED_TASK(update_GPS, 10, 4000),
SCHED_TASK(update_compass, 10, 1500),
+ SCHED_TASK(compass_save, 0.02, 200),
SCHED_TASK_CLASS(AP_BattMonitor, &tracker.battery, read, 10, 1500),
SCHED_TASK_CLASS(AP_Baro, &tracker.barometer, update, 10, 1500),
SCHED_TASK_CLASS(GCS, (GCS*)&tracker._gcs, update_receive, 50, 1700),
@@ -95,13 +96,6 @@ void Tracker::one_second_loop()
// updated armed/disarmed status LEDs
update_armed_disarmed();
- one_second_counter++;
-
- if (one_second_counter >= 60) {
- compass_save();
- one_second_counter = 0;
- }
-
// init compass location for declination
init_compass_location();
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 1e4a0bb3f1..ca170c448b 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -195,7 +195,6 @@ private:
// setup the var_info table
AP_Param param_loader{var_info};
- uint8_t one_second_counter = 0;
bool target_set = false;
bool stationary = true; // are we using the start lat and log?