AP_Vehicle: move call to compass cal update up to AP_Vehicle

3 years ago · e948f79db8
1 changed files with 4 additions and 1 deletions
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@ -324,6 +324,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
				@@ -324,6 +324,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if AP_AIRSPEED_ENABLED
    SCHED_TASK_CLASS(AP_Airspeed,  &vehicle.airspeed,       update,                   10, 100, 41),    // NOTE: the priority number here should be right before Plane's calc_airspeed_errors
 #endif
+#if COMPASS_CAL_ENABLED
+    SCHED_TASK_CLASS(Compass,      &vehicle.compass,        cal_update,     100, 200, 75),
+#endif
 #if HAL_RUNCAM_ENABLED
    SCHED_TASK_CLASS(AP_RunCam,    &vehicle.runcam,         update,                   50, 50, 200),
 #endif