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added some params from Arduplane to make Mavlink upgrade easier 

made loiter radius smaller in storage
This commit is contained in:
Jason Short 2011-11-20 00:21:19 -08:00
parent fa80b7a895
commit 188fbfd878
1 changed files with 9 additions and 3 deletions
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12
ArduCopter/ArduCopter.pde
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@ -260,7 +260,12 @@ static byte control_mode = STABILIZE;
static byte old_control_mode = STABILIZE; static byte old_control_mode = STABILIZE;
static byte oldSwitchPosition; // for remembering the control mode switch static byte oldSwitchPosition; // for remembering the control mode switch
static int16_t motor_out[8]; 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 // Heli
// ---- // ----
@ -480,6 +485,7 @@ static int32_t perf_mon_timer;
//static float imu_health; // Metric based on accel gain deweighting //static float imu_health; // Metric based on accel gain deweighting
static int16_t gps_fix_count; static int16_t gps_fix_count;
static byte gps_watchdog; static byte gps_watchdog;
static int pmTest1;
// System Timers // System Timers
// -------------- // --------------
@ -1473,8 +1479,8 @@ static void update_nav_wp()
if (circle_angle > 6.28318531) if (circle_angle > 6.28318531)
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.lng = next_WP.lng + (g.loiter_radius * 100 * cos(1.57 - circle_angle) * scaleLongUp);
target_WP.lat = next_WP.lat + (g.loiter_radius * sin(1.57 - circle_angle)); 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 the lat and long error to the target
calc_location_error(&target_WP); calc_location_error(&target_WP);