mirror of https://github.com/ArduPilot/ardupilot
make main variables and functions static
this makes most of the variables and functions in the main ArduCopterMega.pde code static, which allows the compiler to optimise better, and exposes unused variables as compiler warnings git-svn-id: https://arducopter.googlecode.com/svn/trunk@2888 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
tridge60@gmail.com
parent
f9105a056e
commit
0b1262a685
|
|
@ -92,12 +92,12 @@ FastSerialPort3(Serial3); // Telemetry port
|
|||
//
|
||||
// Global parameters are all contained within the 'g' class.
|
||||
//
|
||||
Parameters g;
|
||||
static Parameters g;
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// prototypes
|
||||
void update_events(void);
|
||||
static void update_events(void);
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
|
|
@ -114,10 +114,10 @@ void update_events(void);
|
|||
//
|
||||
|
||||
// All GPS access should be through this pointer.
|
||||
GPS *g_gps;
|
||||
static GPS *g_gps;
|
||||
|
||||
// flight modes convenience array
|
||||
AP_Int8 *flight_modes = &g.flight_mode1;
|
||||
static AP_Int8 *flight_modes = &g.flight_mode1;
|
||||
|
||||
#if HIL_MODE == HIL_MODE_DISABLED
|
||||
|
||||
|
|
@ -230,9 +230,9 @@ AP_Int8 *flight_modes = &g.flight_mode1;
|
|||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Global variables
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
const char *comma = ",";
|
||||
static const char *comma = ",";
|
||||
|
||||
const char* flight_mode_strings[] = {
|
||||
static const char* flight_mode_strings[] = {
|
||||
"STABILIZE",
|
||||
"ACRO",
|
||||
"SIMPLE",
|
||||
|
|
@ -261,248 +261,248 @@ const char* flight_mode_strings[] = {
|
|||
|
||||
// Radio
|
||||
// -----
|
||||
byte control_mode = STABILIZE;
|
||||
byte old_control_mode = STABILIZE;
|
||||
byte oldSwitchPosition; // for remembering the control mode switch
|
||||
int motor_out[8];
|
||||
static byte control_mode = STABILIZE;
|
||||
static byte old_control_mode = STABILIZE;
|
||||
static byte oldSwitchPosition; // for remembering the control mode switch
|
||||
static int motor_out[8];
|
||||
|
||||
// Heli
|
||||
// ----
|
||||
float heli_rollFactor[3], heli_pitchFactor[3]; // only required for 3 swashplate servos
|
||||
int heli_servo_min[3], heli_servo_max[3]; // same here. for yaw servo we use heli_servo4_min/max parameter directly
|
||||
int heli_servo_out[4];
|
||||
static float heli_rollFactor[3], heli_pitchFactor[3]; // only required for 3 swashplate servos
|
||||
static int heli_servo_min[3], heli_servo_max[3]; // same here. for yaw servo we use heli_servo4_min/max parameter directly
|
||||
static int heli_servo_out[4];
|
||||
|
||||
// Failsafe
|
||||
// --------
|
||||
boolean failsafe; // did our throttle dip below the failsafe value?
|
||||
boolean ch3_failsafe;
|
||||
boolean motor_armed;
|
||||
boolean motor_auto_armed; // if true,
|
||||
static boolean failsafe; // did our throttle dip below the failsafe value?
|
||||
static boolean ch3_failsafe;
|
||||
static boolean motor_armed;
|
||||
static boolean motor_auto_armed; // if true,
|
||||
|
||||
// PIDs
|
||||
// ----
|
||||
//int max_stabilize_dampener; //
|
||||
//int max_yaw_dampener; //
|
||||
boolean rate_yaw_flag; // used to transition yaw control from Rate control to Yaw hold
|
||||
byte yaw_debug;
|
||||
bool did_clear_yaw_control;
|
||||
Vector3f omega;
|
||||
static boolean rate_yaw_flag; // used to transition yaw control from Rate control to Yaw hold
|
||||
static byte yaw_debug;
|
||||
static bool did_clear_yaw_control;
|
||||
static Vector3f omega;
|
||||
|
||||
// LED output
|
||||
// ----------
|
||||
boolean motor_light; // status of the Motor safety
|
||||
boolean GPS_light; // status of the GPS light
|
||||
boolean timer_light; // status of the Motor safety
|
||||
byte led_mode = NORMAL_LEDS;
|
||||
static boolean motor_light; // status of the Motor safety
|
||||
static boolean GPS_light; // status of the GPS light
|
||||
static boolean timer_light; // status of the Motor safety
|
||||
static byte led_mode = NORMAL_LEDS;
|
||||
|
||||
// GPS variables
|
||||
// -------------
|
||||
const float t7 = 10000000.0; // used to scale GPS values for EEPROM storage
|
||||
float scaleLongUp = 1; // used to reverse longtitude scaling
|
||||
float scaleLongDown = 1; // used to reverse longtitude scaling
|
||||
byte ground_start_count = 10; // have we achieved first lock and set Home?
|
||||
static const float t7 = 10000000.0; // used to scale GPS values for EEPROM storage
|
||||
static float scaleLongUp = 1; // used to reverse longtitude scaling
|
||||
static float scaleLongDown = 1; // used to reverse longtitude scaling
|
||||
static byte ground_start_count = 10; // have we achieved first lock and set Home?
|
||||
|
||||
// Location & Navigation
|
||||
// ---------------------
|
||||
const float radius_of_earth = 6378100; // meters
|
||||
const float gravity = 9.81; // meters/ sec^2
|
||||
long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
|
||||
long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target
|
||||
long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
|
||||
int climb_rate; // m/s * 100 - For future implementation of controlled ascent/descent by rate
|
||||
float nav_gain_scaler = 1; // Gain scaling for headwind/tailwind TODO: why does this variable need to be initialized to 1?
|
||||
static const float radius_of_earth = 6378100; // meters
|
||||
static const float gravity = 9.81; // meters/ sec^2
|
||||
static long nav_bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
|
||||
static long target_bearing; // deg * 100 : 0 to 360 location of the plane to the target
|
||||
static long crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
|
||||
static int climb_rate; // m/s * 100 - For future implementation of controlled ascent/descent by rate
|
||||
static float nav_gain_scaler = 1; // Gain scaling for headwind/tailwind TODO: why does this variable need to be initialized to 1?
|
||||
|
||||
int last_ground_speed; // used to dampen navigation
|
||||
int waypoint_speed;
|
||||
static int last_ground_speed; // used to dampen navigation
|
||||
static int waypoint_speed;
|
||||
|
||||
byte wp_control; // used to control - navgation or loiter
|
||||
static byte wp_control; // used to control - navgation or loiter
|
||||
|
||||
byte command_must_index; // current command memory location
|
||||
byte command_may_index; // current command memory location
|
||||
byte command_must_ID; // current command ID
|
||||
byte command_may_ID; // current command ID
|
||||
byte wp_verify_byte; // used for tracking state of navigating waypoints
|
||||
static byte command_must_index; // current command memory location
|
||||
static byte command_may_index; // current command memory location
|
||||
static byte command_must_ID; // current command ID
|
||||
static byte command_may_ID; // current command ID
|
||||
static byte wp_verify_byte; // used for tracking state of navigating waypoints
|
||||
|
||||
float cos_roll_x = 1;
|
||||
float cos_pitch_x = 1;
|
||||
float cos_yaw_x = 1;
|
||||
float sin_pitch_y, sin_yaw_y, sin_roll_y;
|
||||
bool simple_bearing_is_set = false;
|
||||
long initial_simple_bearing; // used for Simple mode
|
||||
static float cos_roll_x = 1;
|
||||
static float cos_pitch_x = 1;
|
||||
static float cos_yaw_x = 1;
|
||||
static float sin_pitch_y, sin_yaw_y, sin_roll_y;
|
||||
static bool simple_bearing_is_set = false;
|
||||
static long initial_simple_bearing; // used for Simple mode
|
||||
|
||||
// Airspeed
|
||||
// --------
|
||||
int airspeed; // m/s * 100
|
||||
static int airspeed; // m/s * 100
|
||||
|
||||
// Location Errors
|
||||
// ---------------
|
||||
long bearing_error; // deg * 100 : 0 to 36000
|
||||
long altitude_error; // meters * 100 we are off in altitude
|
||||
float crosstrack_error; // meters we are off trackline
|
||||
long distance_error; // distance to the WP
|
||||
long yaw_error; // how off are we pointed
|
||||
long long_error, lat_error; // temp for debugging
|
||||
int loiter_error_max;
|
||||
static long bearing_error; // deg * 100 : 0 to 36000
|
||||
static long altitude_error; // meters * 100 we are off in altitude
|
||||
static float crosstrack_error; // meters we are off trackline
|
||||
static long distance_error; // distance to the WP
|
||||
static long yaw_error; // how off are we pointed
|
||||
static long long_error, lat_error; // temp for debugging
|
||||
static int loiter_error_max;
|
||||
|
||||
// Battery Sensors
|
||||
// ---------------
|
||||
float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter
|
||||
float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery Voltage of cell 1, initialized above threshold for filter
|
||||
float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2, initialized above threshold for filter
|
||||
float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3, initialized above threshold for filter
|
||||
float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter
|
||||
static float battery_voltage = LOW_VOLTAGE * 1.05; // Battery Voltage of total battery, initialized above threshold for filter
|
||||
static float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery Voltage of cell 1, initialized above threshold for filter
|
||||
static float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2, initialized above threshold for filter
|
||||
static float battery_voltage3 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3, initialized above threshold for filter
|
||||
static float battery_voltage4 = LOW_VOLTAGE * 1.05; // Battery Voltage of cells 1 + 2+3 + 4, initialized above threshold for filter
|
||||
|
||||
float current_amps;
|
||||
float current_total;
|
||||
static float current_amps;
|
||||
static float current_total;
|
||||
|
||||
// Airspeed Sensors
|
||||
// ----------------
|
||||
|
||||
// Barometer Sensor variables
|
||||
// --------------------------
|
||||
long abs_pressure;
|
||||
long ground_pressure;
|
||||
int ground_temperature;
|
||||
int32_t baro_filter[BARO_FILTER_SIZE];
|
||||
byte baro_filter_index;
|
||||
static long abs_pressure;
|
||||
static long ground_pressure;
|
||||
static int ground_temperature;
|
||||
static int32_t baro_filter[BARO_FILTER_SIZE];
|
||||
static byte baro_filter_index;
|
||||
|
||||
// Altitude Sensor variables
|
||||
// ----------------------
|
||||
int sonar_alt;
|
||||
int baro_alt;
|
||||
int baro_alt_offset;
|
||||
byte altitude_sensor = BARO; // used to know which sensor is active, BARO or SONAR
|
||||
static int sonar_alt;
|
||||
static int baro_alt;
|
||||
static int baro_alt_offset;
|
||||
static byte altitude_sensor = BARO; // used to know which sensor is active, BARO or SONAR
|
||||
|
||||
|
||||
// flight mode specific
|
||||
// --------------------
|
||||
boolean takeoff_complete; // Flag for using take-off controls
|
||||
boolean land_complete;
|
||||
//int takeoff_altitude;
|
||||
int landing_distance; // meters;
|
||||
long old_alt; // used for managing altitude rates
|
||||
int velocity_land;
|
||||
byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target
|
||||
int throttle_slew; // used to smooth throttle tranistions
|
||||
static boolean takeoff_complete; // Flag for using take-off controls
|
||||
static boolean land_complete;
|
||||
//static int takeoff_altitude;
|
||||
static int landing_distance; // meters;
|
||||
static long old_alt; // used for managing altitude rates
|
||||
static int velocity_land;
|
||||
static byte yaw_tracking = MAV_ROI_WPNEXT; // no tracking, point at next wp, or at a target
|
||||
static int throttle_slew; // used to smooth throttle tranistions
|
||||
|
||||
// Loiter management
|
||||
// -----------------
|
||||
long saved_target_bearing; // deg * 100
|
||||
unsigned long loiter_time; // millis : when we started LOITER mode
|
||||
unsigned long loiter_time_max; // millis : how long to stay in LOITER mode
|
||||
static long saved_target_bearing; // deg * 100
|
||||
static unsigned long loiter_time; // millis : when we started LOITER mode
|
||||
static unsigned long loiter_time_max; // millis : how long to stay in LOITER mode
|
||||
|
||||
// these are the values for navigation control functions
|
||||
// ----------------------------------------------------
|
||||
long nav_roll; // deg * 100 : target roll angle
|
||||
long nav_pitch; // deg * 100 : target pitch angle
|
||||
long nav_yaw; // deg * 100 : target yaw angle
|
||||
long nav_lat; // for error calcs
|
||||
long nav_lon; // for error calcs
|
||||
int nav_throttle; // 0-1000 for throttle control
|
||||
static long nav_roll; // deg * 100 : target roll angle
|
||||
static long nav_pitch; // deg * 100 : target pitch angle
|
||||
static long nav_yaw; // deg * 100 : target yaw angle
|
||||
static long nav_lat; // for error calcs
|
||||
static long nav_lon; // for error calcs
|
||||
static int nav_throttle; // 0-1000 for throttle control
|
||||
|
||||
long throttle_integrator; // used to control when we calculate nav_throttle
|
||||
bool invalid_throttle; // used to control when we calculate nav_throttle
|
||||
bool set_throttle_cruise_flag = false; // used to track the throttle crouse value
|
||||
static long throttle_integrator; // used to control when we calculate nav_throttle
|
||||
static bool invalid_throttle; // used to control when we calculate nav_throttle
|
||||
static bool set_throttle_cruise_flag = false; // used to track the throttle crouse value
|
||||
|
||||
long command_yaw_start; // what angle were we to begin with
|
||||
unsigned long command_yaw_start_time; // when did we start turning
|
||||
unsigned int command_yaw_time; // how long we are turning
|
||||
long command_yaw_end; // what angle are we trying to be
|
||||
long command_yaw_delta; // how many degrees will we turn
|
||||
int command_yaw_speed; // how fast to turn
|
||||
byte command_yaw_dir;
|
||||
byte command_yaw_relative;
|
||||
static long command_yaw_start; // what angle were we to begin with
|
||||
static unsigned long command_yaw_start_time; // when did we start turning
|
||||
static unsigned int command_yaw_time; // how long we are turning
|
||||
static long command_yaw_end; // what angle are we trying to be
|
||||
static long command_yaw_delta; // how many degrees will we turn
|
||||
static int command_yaw_speed; // how fast to turn
|
||||
static byte command_yaw_dir;
|
||||
static byte command_yaw_relative;
|
||||
|
||||
int auto_level_counter;
|
||||
static int auto_level_counter;
|
||||
|
||||
// Waypoints
|
||||
// ---------
|
||||
long wp_distance; // meters - distance between plane and next waypoint
|
||||
long wp_totalDistance; // meters - distance between old and next waypoint
|
||||
byte next_wp_index; // Current active command index
|
||||
static long wp_distance; // meters - distance between plane and next waypoint
|
||||
static long wp_totalDistance; // meters - distance between old and next waypoint
|
||||
static byte next_wp_index; // Current active command index
|
||||
|
||||
// repeating event control
|
||||
// -----------------------
|
||||
byte event_id; // what to do - see defines
|
||||
unsigned long event_timer; // when the event was asked for in ms
|
||||
unsigned int event_delay; // how long to delay the next firing of event in millis
|
||||
int event_repeat; // how many times to fire : 0 = forever, 1 = do once, 2 = do twice
|
||||
int event_value; // per command value, such as PWM for servos
|
||||
int event_undo_value; // the value used to undo commands
|
||||
byte repeat_forever;
|
||||
byte undo_event; // counter for timing the undo
|
||||
static byte event_id; // what to do - see defines
|
||||
static unsigned long event_timer; // when the event was asked for in ms
|
||||
static unsigned int event_delay; // how long to delay the next firing of event in millis
|
||||
static int event_repeat; // how many times to fire : 0 = forever, 1 = do once, 2 = do twice
|
||||
static int event_value; // per command value, such as PWM for servos
|
||||
static int event_undo_value; // the value used to undo commands
|
||||
static byte repeat_forever;
|
||||
static byte undo_event; // counter for timing the undo
|
||||
|
||||
// delay command
|
||||
// --------------
|
||||
long condition_value; // used in condition commands (eg delay, change alt, etc.)
|
||||
long condition_start;
|
||||
int condition_rate;
|
||||
static long condition_value; // used in condition commands (eg delay, change alt, etc.)
|
||||
static long condition_start;
|
||||
static int condition_rate;
|
||||
|
||||
// land command
|
||||
// ------------
|
||||
long land_start; // when we intiated command in millis()
|
||||
long original_alt; // altitide reference for start of command
|
||||
static long land_start; // when we intiated command in millis()
|
||||
static long original_alt; // altitide reference for start of command
|
||||
|
||||
// 3D Location vectors
|
||||
// -------------------
|
||||
struct Location home; // home location
|
||||
struct Location prev_WP; // last waypoint
|
||||
struct Location current_loc; // current location
|
||||
struct Location next_WP; // next waypoint
|
||||
struct Location target_WP; // where do we want to you towards?
|
||||
struct Location simple_WP; //
|
||||
struct Location next_command; // command preloaded
|
||||
struct Location guided_WP; // guided mode waypoint
|
||||
long target_altitude; // used for
|
||||
boolean home_is_set; // Flag for if we have g_gps lock and have set the home location
|
||||
static struct Location home; // home location
|
||||
static struct Location prev_WP; // last waypoint
|
||||
static struct Location current_loc; // current location
|
||||
static struct Location next_WP; // next waypoint
|
||||
static struct Location target_WP; // where do we want to you towards?
|
||||
static struct Location simple_WP; //
|
||||
static struct Location next_command; // command preloaded
|
||||
static struct Location guided_WP; // guided mode waypoint
|
||||
static long target_altitude; // used for
|
||||
static boolean home_is_set; // Flag for if we have g_gps lock and have set the home location
|
||||
|
||||
|
||||
// IMU variables
|
||||
// -------------
|
||||
float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm)
|
||||
static float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm)
|
||||
|
||||
|
||||
// Performance monitoring
|
||||
// ----------------------
|
||||
long perf_mon_timer;
|
||||
float imu_health; // Metric based on accel gain deweighting
|
||||
int G_Dt_max; // Max main loop cycle time in milliseconds
|
||||
int gps_fix_count;
|
||||
byte gcs_messages_sent;
|
||||
static long perf_mon_timer;
|
||||
static float imu_health; // Metric based on accel gain deweighting
|
||||
static int G_Dt_max; // Max main loop cycle time in milliseconds
|
||||
static int gps_fix_count;
|
||||
static byte gcs_messages_sent;
|
||||
|
||||
|
||||
// GCS
|
||||
// ---
|
||||
char GCS_buffer[53];
|
||||
char display_PID = -1; // Flag used by DebugTerminal to indicate that the next PID calculation with this index should be displayed
|
||||
static char GCS_buffer[53];
|
||||
static char display_PID = -1; // Flag used by DebugTerminal to indicate that the next PID calculation with this index should be displayed
|
||||
|
||||
// System Timers
|
||||
// --------------
|
||||
unsigned long fast_loopTimer; // Time in miliseconds of main control loop
|
||||
unsigned long fast_loopTimeStamp; // Time Stamp when fast loop was complete
|
||||
uint8_t delta_ms_fast_loop; // Delta Time in miliseconds
|
||||
int mainLoop_count;
|
||||
static unsigned long fast_loopTimer; // Time in miliseconds of main control loop
|
||||
static unsigned long fast_loopTimeStamp; // Time Stamp when fast loop was complete
|
||||
static uint8_t delta_ms_fast_loop; // Delta Time in miliseconds
|
||||
static int mainLoop_count;
|
||||
|
||||
unsigned long medium_loopTimer; // Time in miliseconds of navigation control loop
|
||||
byte medium_loopCounter; // Counters for branching from main control loop to slower loops
|
||||
uint8_t delta_ms_medium_loop;
|
||||
static unsigned long medium_loopTimer; // Time in miliseconds of navigation control loop
|
||||
static byte medium_loopCounter; // Counters for branching from main control loop to slower loops
|
||||
static uint8_t delta_ms_medium_loop;
|
||||
|
||||
unsigned long fiftyhz_loopTimer;
|
||||
uint8_t delta_ms_fiftyhz;
|
||||
static unsigned long fiftyhz_loopTimer;
|
||||
static uint8_t delta_ms_fiftyhz;
|
||||
|
||||
byte slow_loopCounter;
|
||||
int superslow_loopCounter;
|
||||
byte flight_timer; // for limiting the execution of flight mode thingys
|
||||
static byte slow_loopCounter;
|
||||
static int superslow_loopCounter;
|
||||
static byte flight_timer; // for limiting the execution of flight mode thingys
|
||||
|
||||
|
||||
unsigned long dTnav; // Delta Time in milliseconds for navigation computations
|
||||
unsigned long nav_loopTimer; // used to track the elapsed ime for GPS nav
|
||||
unsigned long elapsedTime; // for doing custom events
|
||||
float load; // % MCU cycles used
|
||||
static unsigned long dTnav; // Delta Time in milliseconds for navigation computations
|
||||
static unsigned long nav_loopTimer; // used to track the elapsed ime for GPS nav
|
||||
static unsigned long elapsedTime; // for doing custom events
|
||||
static float load; // % MCU cycles used
|
||||
|
||||
byte counter_one_herz;
|
||||
bool GPS_enabled = false;
|
||||
byte loop_step;
|
||||
static byte counter_one_herz;
|
||||
static bool GPS_enabled = false;
|
||||
static byte loop_step;
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Top-level logic
|
||||
|
|
@ -573,7 +573,7 @@ void loop()
|
|||
// PORTK &= B10111111;
|
||||
|
||||
// Main loop
|
||||
void fast_loop()
|
||||
static void fast_loop()
|
||||
{
|
||||
// IMU DCM Algorithm
|
||||
read_AHRS();
|
||||
|
|
@ -605,7 +605,7 @@ void fast_loop()
|
|||
#endif
|
||||
}
|
||||
|
||||
void medium_loop()
|
||||
static void medium_loop()
|
||||
{
|
||||
// This is the start of the medium (10 Hz) loop pieces
|
||||
// -----------------------------------------
|
||||
|
|
@ -769,7 +769,7 @@ void medium_loop()
|
|||
|
||||
// stuff that happens at 50 hz
|
||||
// ---------------------------
|
||||
void fifty_hz_loop()
|
||||
static void fifty_hz_loop()
|
||||
{
|
||||
// use Yaw to find our bearing error
|
||||
calc_bearing_error();
|
||||
|
|
@ -823,7 +823,7 @@ void fifty_hz_loop()
|
|||
}
|
||||
|
||||
|
||||
void slow_loop()
|
||||
static void slow_loop()
|
||||
{
|
||||
// This is the slow (3 1/3 Hz) loop pieces
|
||||
//----------------------------------------
|
||||
|
|
@ -914,7 +914,7 @@ void slow_loop()
|
|||
}
|
||||
|
||||
// 1Hz loop
|
||||
void super_slow_loop()
|
||||
static void super_slow_loop()
|
||||
{
|
||||
loop_step = 9;
|
||||
if (g.log_bitmask & MASK_LOG_CURRENT)
|
||||
|
|
@ -945,7 +945,7 @@ void super_slow_loop()
|
|||
|
||||
}
|
||||
|
||||
void update_GPS(void)
|
||||
static void update_GPS(void)
|
||||
{
|
||||
loop_step = 10;
|
||||
g_gps->update();
|
||||
|
|
@ -1003,7 +1003,7 @@ void update_GPS(void)
|
|||
}
|
||||
}
|
||||
|
||||
void update_current_flight_mode(void)
|
||||
static void update_current_flight_mode(void)
|
||||
{
|
||||
if(control_mode == AUTO){
|
||||
|
||||
|
|
@ -1226,7 +1226,7 @@ void update_current_flight_mode(void)
|
|||
}
|
||||
|
||||
// called after a GPS read
|
||||
void update_navigation()
|
||||
static void update_navigation()
|
||||
{
|
||||
// wp_distance is in ACTUAL meters, not the *100 meters we get from the GPS
|
||||
// ------------------------------------------------------------------------
|
||||
|
|
@ -1274,7 +1274,7 @@ void update_navigation()
|
|||
}
|
||||
}
|
||||
|
||||
void read_AHRS(void)
|
||||
static void read_AHRS(void)
|
||||
{
|
||||
// Perform IMU calculations and get attitude info
|
||||
//-----------------------------------------------
|
||||
|
|
@ -1287,7 +1287,7 @@ void read_AHRS(void)
|
|||
omega = dcm.get_gyro();
|
||||
}
|
||||
|
||||
void update_trig(void){
|
||||
static void update_trig(void){
|
||||
Vector2f yawvector;
|
||||
Matrix3f temp = dcm.get_dcm_matrix();
|
||||
|
||||
|
|
@ -1309,7 +1309,7 @@ void update_trig(void){
|
|||
}
|
||||
|
||||
// updated at 10hz
|
||||
void update_alt()
|
||||
static void update_alt()
|
||||
{
|
||||
altitude_sensor = BARO;
|
||||
|
||||
|
|
@ -1358,7 +1358,7 @@ void update_alt()
|
|||
#endif
|
||||
}
|
||||
|
||||
void
|
||||
static void
|
||||
adjust_altitude()
|
||||
{
|
||||
flight_timer++;
|
||||
|
|
@ -1378,7 +1378,7 @@ adjust_altitude()
|
|||
}
|
||||
}
|
||||
|
||||
void tuning(){
|
||||
static void tuning(){
|
||||
|
||||
//Outer Loop : Attitude
|
||||
#if CHANNEL_6_TUNING == CH6_STABILIZE_KP
|
||||
|
|
@ -1429,7 +1429,7 @@ void tuning(){
|
|||
#endif
|
||||
}
|
||||
|
||||
void update_nav_wp()
|
||||
static void update_nav_wp()
|
||||
{
|
||||
// XXX Guided mode!!!
|
||||
if(wp_control == LOITER_MODE){
|
||||
|
|
@ -1452,7 +1452,7 @@ void update_nav_wp()
|
|||
}
|
||||
}
|
||||
|
||||
void update_nav_yaw()
|
||||
static void update_nav_yaw()
|
||||
{
|
||||
// this tracks a location so the copter is always pointing towards it.
|
||||
if(yaw_tracking == MAV_ROI_LOCATION){
|
||||
|
|
@ -1463,12 +1463,12 @@ void update_nav_yaw()
|
|||
}
|
||||
}
|
||||
|
||||
void point_at_home_yaw()
|
||||
static void point_at_home_yaw()
|
||||
{
|
||||
nav_yaw = get_bearing(¤t_loc, &home);
|
||||
}
|
||||
|
||||
void auto_throttle()
|
||||
static void auto_throttle()
|
||||
{
|
||||
// get the AP throttle
|
||||
nav_throttle = get_nav_throttle(altitude_error);
|
||||
|
|
|
|||
Loading…
Reference in New Issue