From 188fbfd878e05a7b7b3e35d374554ac997fead9d Mon Sep 17 00:00:00 2001 From: Jason Short Date: Sun, 20 Nov 2011 00:21:19 -0800 Subject: [PATCH] added some params from Arduplane to make Mavlink upgrade easier made loiter radius smaller in storage --- ArduCopter/ArduCopter.pde | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 09b3f64b50..ceceeb28af 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -260,7 +260,12 @@ static byte control_mode = STABILIZE; static byte old_control_mode = STABILIZE; static byte oldSwitchPosition; // for remembering the control mode switch static int16_t motor_out[8]; -static bool do_simple = false; +static bool do_simple = false; + +static int16_t rc_override[8] = {0,0,0,0,0,0,0,0}; +static bool rc_override_active = false; +static uint32_t rc_override_fs_timer = 0; + // Heli // ---- @@ -480,6 +485,7 @@ static int32_t perf_mon_timer; //static float imu_health; // Metric based on accel gain deweighting static int16_t gps_fix_count; static byte gps_watchdog; +static int pmTest1; // System Timers // -------------- @@ -1473,8 +1479,8 @@ static void update_nav_wp() if (circle_angle > 6.28318531) circle_angle -= 6.28318531; - target_WP.lng = next_WP.lng + (g.loiter_radius * cos(1.57 - circle_angle) * scaleLongUp); - target_WP.lat = next_WP.lat + (g.loiter_radius * sin(1.57 - circle_angle)); + target_WP.lng = next_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp); + target_WP.lat = next_WP.lat + (g.loiter_radius * 100 * sin(1.57 - circle_angle)); // calc the lat and long error to the target calc_location_error(&target_WP);