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Tracker: move startup delay to update_tracking call

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This ensure the tracker does not move in any mode until after the
startup delay has passed
This commit is contained in:
Randy Mackay 2014-10-01 23:28:14 +09:00
parent 1135ef3610
commit 2155951e63
2 changed files with 6 additions and 4 deletions
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4
AntennaTracker/control_auto.pde
View File

@ -10,10 +10,6 @@
*/ */
static void update_auto(void) static void update_auto(void)
{ {
if (g.startup_delay > 0 &&
hal.scheduler->millis() - start_time_ms < g.startup_delay*1000) {
return;
}
float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f; float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f;
float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90); float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90);
update_pitch_servo(pitch); update_pitch_servo(pitch);

6
AntennaTracker/tracking.pde
View File

@ -89,6 +89,12 @@ static void update_tracking(void)
// update bearing and distance to vehicle // update bearing and distance to vehicle
update_bearing_and_distance(); update_bearing_and_distance();
// do not perform any servo updates until startup delay has passed
if (g.startup_delay > 0 &&
hal.scheduler->millis() - start_time_ms < g.startup_delay*1000) {
return;
}
switch (control_mode) { switch (control_mode) {
case AUTO: case AUTO:
update_auto(); update_auto();