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ACM: updates for new GPS detection 

a GPS can now be attached after startup
This commit is contained in:
Andrew Tridgell 2012-09-17 14:43:56 +10:00
parent bb3d43c8b6
commit 14d19ac33d
3 changed files with 2 additions and 47 deletions
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10
ArduCopter/ArduCopter.pde
View File

@ -905,9 +905,6 @@ static uint8_t auto_disarming_counter;
// prevents duplicate GPS messages from entering system
static uint32_t last_gps_time;
// Tracks if GPS is enabled based on statup routine
// If we do not detect GPS at startup, we stop trying and assume GPS is not connected
static bool GPS_enabled = false;
// Set true if we have new PWM data to act on from the Radio
static bool new_radio_frame;
// Used to auto exit the in-flight leveler
@ -1485,15 +1482,10 @@ static void update_GPS(void)
// A counter that is used to grab at least 10 reads before commiting the Home location
static byte ground_start_count = 10;
// return immediately if GPS is not enabled
if( !GPS_enabled ) {
return;
}
g_gps->update();
update_GPS_light();
if(gps_watchdog < 30) {
if (gps_watchdog < 30) {
gps_watchdog++;
}else{
// after 12 reads we guess we may have lost GPS signal, stop navigating

8
ArduCopter/setup.pde
View File

@ -1233,14 +1233,6 @@ static void print_wp(struct Location *cmd, byte index)
*/
}
static void report_gps()
{
Serial.printf_P(PSTR("\nGPS\n"));
print_divider();
print_enabled(GPS_enabled);
print_blanks(2);
}
static void report_version()
{
Serial.printf_P(PSTR("FW Ver: %d\n"),(int)g.k_format_version);

31
ArduCopter/system.pde
View File

@ -221,7 +221,6 @@ static void init_ardupilot()
g_gps = &g_gps_driver;
// GPS Initialization
g_gps->init(GPS::GPS_ENGINE_AIRBORNE_1G);
g_gps->callback = mavlink_delay;
if(g.compass_enabled)
init_compass();
@ -253,34 +252,6 @@ static void init_ardupilot()
Serial.printf_P(PSTR("\nPress ENTER 3 times for CLI\n\n"));
#endif // CLI_ENABLED
GPS_enabled = false;
#if HIL_MODE == HIL_MODE_DISABLED
// Read in the GPS
for (byte counter = 0;; counter++) {
g_gps->update();
if (g_gps->status() != 0) {
GPS_enabled = true;
break;
}
if (counter >= 2) {
GPS_enabled = false;
break;
}
}
#else
GPS_enabled = true;
#endif
// lengthen the idle timeout for gps Auto_detect
// ---------------------------------------------
g_gps->idleTimeout = 20000;
// print the GPS status
// --------------------
report_gps();
#if HIL_MODE != HIL_MODE_ATTITUDE
// read Baro pressure at ground
//-----------------------------
@ -433,7 +404,7 @@ static void set_mode(byte mode)
}
// nothing but OF_LOITER for OptFlow only
if (g.optflow_enabled && GPS_enabled == false) {
if (g.optflow_enabled && g_gps->status() != GPS::GPS_OK) {
if (mode > ALT_HOLD && mode != OF_LOITER)
mode = STABILIZE;
}