From 23acfb63a91886690400632736d062667abc3452 Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Sat, 12 Mar 2016 15:22:20 -0800 Subject: [PATCH] Better param reset --- src/AutoPilotPlugins/APM/APMCompassCal.cc | 22 +++++++++------------- 1 file changed, 9 insertions(+), 13 deletions(-) diff --git a/src/AutoPilotPlugins/APM/APMCompassCal.cc b/src/AutoPilotPlugins/APM/APMCompassCal.cc index 694bf0f71..b769142a7 100644 --- a/src/AutoPilotPlugins/APM/APMCompassCal.cc +++ b/src/AutoPilotPlugins/APM/APMCompassCal.cc @@ -624,21 +624,17 @@ void APMCompassCal::startCalibration(void) const char* deviceIdParam = CalWorkerThread::rgCompassParams[i][3]; if (plugin->parameterExists(-1, deviceIdParam)) { - if (plugin->getParameterFact(-1, deviceIdParam)->rawValue().toInt() > 0) { - for (int j=0; j<3; j++) { - const char* offsetParam = CalWorkerThread::rgCompassParams[i][j]; - if (plugin->parameterExists(-1, offsetParam)) { - Fact* paramFact = plugin->getParameterFact(-1, offsetParam); - - _rgSavedCompassOffsets[i][j] = paramFact->rawValue().toFloat(); - paramFact->setRawValue(0.0); - goto has_compass; - } - } + _calWorkerThread->rgCompassAvailable[i] = plugin->getParameterFact(-1, deviceIdParam)->rawValue().toInt() > 0; + for (int j=0; j<3; j++) { + const char* offsetParam = CalWorkerThread::rgCompassParams[i][j]; + Fact* paramFact = plugin->getParameterFact(-1, offsetParam); + + _rgSavedCompassOffsets[i][j] = paramFact->rawValue().toFloat(); + paramFact->setRawValue(0.0); } + } else { + _calWorkerThread->rgCompassAvailable[i] = false; } - _calWorkerThread->rgCompassAvailable[i] = false; - has_compass: qCDebug(APMCompassCalLog) << QStringLiteral("Compass %1 available: %2").arg(i).arg(_calWorkerThread->rgCompassAvailable[i]); } -- 2.22.0