Rover: change to Compass::learn_offsets

11 years ago · aeb7578e5d
2 changed files with 2 additions and 2 deletions
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@ -710,7 +710,7 @@ static void update_compass(void)
    if (g.compass_enabled && compass.read()) {
        ahrs.set_compass(&compass);
        // update offsets
-        compass.null_offsets();
+        compass.learn_offsets();
        if (should_log(MASK_LOG_COMPASS)) {
            Log_Write_Compass();
        }
--- a/APMrover2/test.pde
+++ b/APMrover2/test.pde
@ -410,7 +410,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
                // Calculate heading
                Matrix3f m = ahrs.get_dcm_matrix();
                heading = compass.calculate_heading(m);
-                compass.null_offsets();
+                compass.learn_offsets();
            }
            medium_loopCounter = 0;
        }