Merge pull request #49 from larus-breeze/switch_mag_calibration_report

Switchable mag calibration report.

Author: realtimepeople

NAV_Algorithms/AHRS.cpp

@@ -404,6 +404,8 @@ void AHRS_type::handle_magnetic_calibration ( void)
 {
   bool calibration_changed = compass_calibration.set_calibration_if_changed ( mag_calibration_data_collector_right_turn, mag_calibration_data_collector_left_turn, MAG_SCALE);
 
+#if REPORT_MAGNETIC_CALIBRATION == 1
+
   if( calibration_changed)
     {
       magnetic_induction_report_t magnetic_induction_report;
@@ -412,6 +414,10 @@ void AHRS_type::handle_magnetic_calibration ( void)
 
       magnetic_calibration_updated = true;
     }
+#else
+  (void)calibration_changed;
+  (void)type;
+#endif
 }
 
 void AHRS_type::filter_magnetic_induction( const float3vector &gyro, float3vector &mag)
@@ -420,5 +426,3 @@ void AHRS_type::filter_magnetic_induction( const float3vector &gyro, float3vecto
   for( unsigned i=0; i<3; ++i)
 	mag[i] = mag_filter[i].respond(mag[i], absolute_rotation * Ts * MAX_EXPECTED_INDUCTION_SLOPE);
 }
-
-