AP_InertialSensor: removed the flash_leds() callback

AP_Notify now handles this

libraries/AP_InertialSensor/AP_InertialSensor.cpp

@@ -10,8 +10,6 @@
 extern const AP_HAL::HAL& hal;
 
 
-#define FLASH_LEDS(on) do { if (flash_leds_cb != NULL) flash_leds_cb(on); } while (0)
-
 #define SAMPLE_UNIT 1
 
 // Class level parameters
@@ -102,8 +100,7 @@ AP_InertialSensor::AP_InertialSensor() :
 
 void
 AP_InertialSensor::init( Start_style style,
-                         Sample_rate sample_rate,
+                         Sample_rate sample_rate)
-                         void (*flash_leds_cb)(bool on))
 {
     _product_id = _init_sensor(sample_rate);
 
@@ -116,7 +113,7 @@ AP_InertialSensor::init( Start_style style,
 
     if (WARM_START != style) {
         // do cold-start calibration for gyro only
-        _init_gyro(flash_leds_cb);
+        _init_gyro();
     }
 }
 
@@ -130,16 +127,16 @@ void AP_InertialSensor::_save_parameters()
 }
 
 void
-AP_InertialSensor::init_gyro(void (*flash_leds_cb)(bool on))
+AP_InertialSensor::init_gyro()
 {
-    _init_gyro(flash_leds_cb);
+    _init_gyro();
 
     // save calibration
     _save_parameters();
 }
 
 void
-AP_InertialSensor::_init_gyro(void (*flash_leds_cb)(bool on))
+AP_InertialSensor::_init_gyro()
 {
     Vector3f last_average, best_avg;
     Vector3f ins_gyro;
@@ -219,16 +216,16 @@ AP_InertialSensor::_init_gyro(void (*flash_leds_cb)(bool on))
 
 
 void
-AP_InertialSensor::init_accel(void (*flash_leds_cb)(bool on))
+AP_InertialSensor::init_accel()
 {
-    _init_accel(flash_leds_cb);
+    _init_accel();
 
     // save calibration
     _save_parameters();
 }
 
 void
-AP_InertialSensor::_init_accel(void (*flash_leds_cb)(bool on))
+AP_InertialSensor::_init_accel()
 {
     int8_t flashcount = 0;
     Vector3f ins_accel;
@@ -310,10 +307,9 @@ AP_InertialSensor::_init_accel(void (*flash_leds_cb)(bool on))
 // http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
 // original sketch available at
 // http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
-bool AP_InertialSensor::calibrate_accel(void (*flash_leds_cb)(bool on),
+bool AP_InertialSensor::calibrate_accel(AP_InertialSensor_UserInteract* interact,
-                            AP_InertialSensor_UserInteract* interact,
+                                        float &trim_roll,
-                            float &trim_roll,
+                                        float &trim_pitch)
-                            float &trim_pitch)
 {
     Vector3f samples[6];
     Vector3f new_offsets;

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -49,21 +49,19 @@ public:
     /// @param style	The initialisation startup style.
     ///
     virtual void init( Start_style style,
-                       Sample_rate sample_rate,
+                       Sample_rate sample_rate);
-                       void        (*flash_leds_cb)(bool on));
 
     /// Perform cold startup initialisation for just the accelerometers.
     ///
     /// @note This should not be called unless ::init has previously
     ///       been called, as ::init may perform other work.
     ///
-    virtual void init_accel(void (*flash_leds_cb)(bool on));
+    virtual void init_accel();
 
 #if !defined( __AVR_ATmega1280__ )
     // perform accelerometer calibration including providing user instructions
     // and feedback
-    virtual bool calibrate_accel(void (*flash_leds_cb)(bool on),
+    virtual bool calibrate_accel(AP_InertialSensor_UserInteract *interact,
-                                 AP_InertialSensor_UserInteract *interact,
                                  float& trim_roll,
                                  float& trim_pitch);
 #endif
@@ -79,7 +77,7 @@ public:
     /// @note This should not be called unless ::init has previously
     ///       been called, as ::init may perform other work
     ///
-    virtual void init_gyro(void (*flash_leds_cb)(bool on));
+    virtual void init_gyro(void);
 
     /// Fetch the current gyro values
     ///
@@ -144,9 +142,9 @@ protected:
     virtual uint16_t        _init_sensor( Sample_rate sample_rate ) = 0;
 
     // no-save implementations of accel and gyro initialisation routines
-    virtual void  _init_accel(void (*flash_leds_cb)(bool on) = NULL);
+    virtual void  _init_accel();
 
-    virtual void _init_gyro(void (*flash_leds_cb)(bool on) = NULL);
+    virtual void _init_gyro();
 
 #if !defined( __AVR_ATmega1280__ )
     // Calibration routines borrowed from Rolfe Schmidt

libraries/AP_InertialSensor/examples/MPU6000/MPU6000.pde

@@ -18,29 +18,13 @@
 #include <GCS_MAVLink.h>
 #include <AP_Notify.h>
 
-#if CONFIG_HAL_BOARD == HAL_BOARD_APM2
-#define A_LED_PIN 27
-#define C_LED_PIN 25
-#else
-#define A_LED_PIN 37
-#define C_LED_PIN 35
-#endif
-
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 AP_InertialSensor_MPU6000 ins;
 
-static void flash_leds(bool on) {
-    hal.gpio->write(A_LED_PIN, on);
-    hal.gpio->write(C_LED_PIN, ~on);
-}
-
 void setup(void)
 {
     hal.console->println("AP_InertialSensor startup...");
 
-    hal.gpio->pinMode(A_LED_PIN, GPIO_OUTPUT);
-    hal.gpio->pinMode(C_LED_PIN, GPIO_OUTPUT);
-
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     // we need to stop the barometer from holding the SPI bus
     hal.gpio->pinMode(40, GPIO_OUTPUT);
@@ -162,7 +146,7 @@ void run_level()
     }
 
     // run accel level
-    ins.init_accel(flash_leds);
+    ins.init_accel();
 
     // display results
     display_offsets_and_scaling();

libraries/AP_InertialSensor/examples/OilPan/OilPan.pde

@@ -18,9 +18,6 @@
 #include <GCS_MAVLink.h>
 #include <AP_Notify.h>
 
-#define A_LED_PIN 37
-#define C_LED_PIN 35
-
 const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
@@ -28,18 +25,10 @@ const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
 static AP_ADC_ADS7844 adc;
 AP_InertialSensor_Oilpan ins( &adc );
 
-static void flash_leds(bool on) {
-    hal.gpio->write(A_LED_PIN, on);
-    hal.gpio->write(C_LED_PIN, ~on);
-}
-
 void setup(void)
 {
     hal.console->println("AP_InertialSensor startup...");
 
-    hal.gpio->pinMode(A_LED_PIN, GPIO_OUTPUT);
-    hal.gpio->pinMode(C_LED_PIN, GPIO_OUTPUT);
-
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM2
     // we need to stop the barometer from holding the SPI bus
     hal.gpio->pinMode(40, GPIO_OUTPUT);
@@ -161,7 +150,7 @@ void run_level()
     }
 
     // run accel level
-    ins.init_accel(flash_leds);
+    ins.init_accel();
 
     // display results
     display_offsets_and_scaling();

libraries/AP_InertialSensor/examples/PX4/PX4.pde

@@ -120,10 +120,6 @@ void display_offsets_and_scaling()
                     gyro_offsets.z);
 }
 
-static void flash_leds(bool on) {
-	// no LEDs yet on PX4
-}
-
 void run_level()
 {
     // clear off any input in the buffer
@@ -143,7 +139,7 @@ void run_level()
     }
 
     // run accel level
-    ins.init_accel(flash_leds);
+    ins.init_accel();
 
     // display results
     display_offsets_and_scaling();