Copter: removed flash_leds() calls

ArduCopter/GCS_Mavlink.pde

@@ -1188,7 +1188,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             if (packet.param1 == 1 ||
                 packet.param2 == 1 ||
                 packet.param3 == 1) {
-                ins.init_accel(flash_leds);
+                ins.init_accel();
                 ahrs.set_trim(Vector3f(0,0,0));             // clear out saved trim
             }
             if (packet.param4 == 1) {
@@ -1198,7 +1198,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 float trim_roll, trim_pitch;
                 // this blocks
                 AP_InertialSensor_UserInteract_MAVLink interact(chan);
-                if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) {
+                if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
                     // reset ahrs's trim to suggested values from calibration routine
                     ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
                 }

ArduCopter/setup.pde

@@ -83,10 +83,9 @@ setup_accel_scale(uint8_t argc, const Menu::arg *argv)
     cliSerial->println_P(PSTR("Initialising gyros"));
     ahrs.init();
     ins.init(AP_InertialSensor::COLD_START, 
-             ins_sample_rate,
-             flash_leds);
+             ins_sample_rate);
     AP_InertialSensor_UserInteractStream interact(hal.console);
-    if(ins.calibrate_accel(flash_leds, &interact, trim_roll, trim_pitch)) {
+    if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
         // reset ahrs's trim to suggested values from calibration routine
         ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
     }
@@ -660,9 +659,8 @@ setup_accel(uint8_t argc, const Menu::arg *argv)
 {
     ahrs.init();
     ins.init(AP_InertialSensor::COLD_START, 
-             ins_sample_rate,
-             flash_leds);
-    ins.init_accel(flash_leds);
+             ins_sample_rate);
+    ins.init_accel();
     ahrs.set_trim(Vector3f(0,0,0));     // clear out saved trim
     report_ins();
     return(0);

ArduCopter/system.pde

@@ -273,8 +273,7 @@ static void startup_ground(void)
     // Warm up and read Gyro offsets
     // -----------------------------
     ins.init(AP_InertialSensor::COLD_START,
-             ins_sample_rate,
-             flash_leds);
+             ins_sample_rate);
  #if CLI_ENABLED == ENABLED
     report_ins();
  #endif
@@ -560,16 +559,6 @@ static void check_usb_mux(void)
     }
 }
 
-/*
- *  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);
-}
-
 /*
  * Read Vcc vs 1.1v internal reference
  */

ArduCopter/test.pde

@@ -177,8 +177,7 @@ test_compass(uint8_t argc, const Menu::arg *argv)
 
     // we need the AHRS initialised for this test
     ins.init(AP_InertialSensor::COLD_START, 
-             ins_sample_rate,
-             flash_leds);
+             ins_sample_rate);
     ahrs.reset();
     int16_t counter = 0;
     float heading = 0;
@@ -277,8 +276,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
 
     ahrs.init();
     ins.init(AP_InertialSensor::COLD_START, 
-             ins_sample_rate,
-             flash_leds);
+             ins_sample_rate);
     cliSerial->printf_P(PSTR("...done\n"));
 
     delay(50);