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APMRover2: Reduce the home position reset when disarm

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This commit is contained in:
Pierre Kancir 2017-05-04 11:10:05 +02:00 committed by Grant Morphett
parent 67e79a30e8
commit 00204367fc
3 changed files with 13 additions and 7 deletions
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11
APMrover2/APMrover2.cpp
View File

@ -359,6 +359,13 @@ void Rover::one_second_loop(void)
ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW)); ins.set_raw_logging(should_log(MASK_LOG_IMU_RAW));
// update home position if not soft armed and gps position has
// changed. Update every 1s at most
if (!hal.util->get_soft_armed() &&
gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
update_home();
}
// update error mask of sensors and subsystems. The mask uses the // update error mask of sensors and subsystems. The mask uses the
// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it // MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
// indicates that the sensor or subsystem is present but not // indicates that the sensor or subsystem is present but not
@ -429,10 +436,6 @@ void Rover::update_GPS_10Hz(void)
do_take_picture(); do_take_picture();
} }
#endif #endif
if (!hal.util->get_soft_armed()) {
update_home();
}
} }
} }

2
APMrover2/commands.cpp
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@ -105,10 +105,12 @@ void Rover::update_home()
if (home_is_set == HOME_SET_NOT_LOCKED) { if (home_is_set == HOME_SET_NOT_LOCKED) {
Location loc; Location loc;
if (ahrs.get_position(loc)) { if (ahrs.get_position(loc)) {
if (get_distance(loc, ahrs.get_home()) > DISTANCE_HOME_MAX) {
ahrs.set_home(loc); ahrs.set_home(loc);
Log_Write_Home_And_Origin(); Log_Write_Home_And_Origin();
GCS_MAVLINK::send_home_all(gps.location()); GCS_MAVLINK::send_home_all(gps.location());
} }
} }
}
barometer.update_calibration(); barometer.update_calibration();
} }

1
APMrover2/defines.h
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@ -110,3 +110,4 @@ enum fs_crash_action {
FS_CRASH_HOLD_AND_DISARM = 2 FS_CRASH_HOLD_AND_DISARM = 2
}; };
#define DISTANCE_HOME_MAX 0.5f // Distance max to home location before changing it when disarm