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Merge branch 'master' of https://code.google.com/p/ardupilot-mega

This commit is contained in:
Michael Oborne 2011-10-11 08:05:14 +08:00
parent 3bc793bb9b 3e1ae9b215
commit 14dbc9523c
3 changed files with 17 additions and 11 deletions
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20
ArduPlane/Attitude.pde
View File

@ -287,15 +287,19 @@ static void set_servos(void)
g.channel_rudder.radio_out = g.channel_rudder.radio_in;
// FIXME To me it does not make sense to control the aileron using radio_in in manual mode
// Doug could you please take a look at this ?
if (g_rc_function[RC_Channel_aux::k_aileron] != rc_array[g.flight_mode_channel-1]) {
G_RC_AUX(k_aileron)->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
}
if (g_rc_function[RC_Channel_aux::k_aileron]) {
if (g_rc_function[RC_Channel_aux::k_aileron] != rc_array[g.flight_mode_channel-1]) {
g_rc_function[RC_Channel_aux::k_aileron]->radio_out = g_rc_function[RC_Channel_aux::k_aileron]->radio_in;
}
}
// only use radio_in if the channel is not used as flight_mode_channel
if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1]) {
G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
} else {
G_RC_AUX(k_flap_auto)->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
}
if (g_rc_function[RC_Channel_aux::k_flap_auto]) {
if (g_rc_function[RC_Channel_aux::k_flap_auto] != rc_array[g.flight_mode_channel-1]) {
g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_in;
} else {
g_rc_function[RC_Channel_aux::k_flap_auto]->radio_out = g_rc_function[RC_Channel_aux::k_flap_auto]->radio_trim;
}
}
} else {
if (g.mix_mode == 0) {
g.channel_roll.calc_pwm();

5
libraries/APO/APO_DefaultSetup.h
View File

@ -23,6 +23,7 @@ void setup() {
AP_Guide * guide = NULL;
AP_Controller * controller = NULL;
AP_HardwareAbstractionLayer * hal = NULL;
/*
* Communications
*/
@ -50,6 +51,7 @@ void setup() {
hal->debug->println_P(PSTR("initializing gps"));
AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps));
hal->gps = &gpsDriver;
hal->gps->callback = delay;
hal->gps->init();
}
@ -123,7 +125,7 @@ void setup() {
hal->rangeFinders.push_back(rangeFinder);
}
} else
}
/*
* Select guidance, navigation, control algorithms
@ -155,7 +157,6 @@ void setup() {
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
}
/*
* Start the autopilot
*/

3
libraries/APO/AP_Autopilot.cpp
View File

@ -45,6 +45,7 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
if (hal->gps->fix) {
break;
} else {
hal->gps->update();
hal->gcs->sendText(SEVERITY_LOW,
PSTR("waiting for gps lock\n"));
hal->debug->printf_P(PSTR("waiting for gps lock\n"));
@ -67,8 +68,8 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
break;
}
hal->debug->println_P(PSTR("waiting for hil packet"));
delay(1000);
}
delay(1000);
}
AP_MavlinkCommand::home.setAlt(_navigator->getAlt());