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AntennaTracker: revert AP_Math class change

This commit is contained in:
Andrew Tridgell 2015-05-05 12:34:15 +10:00
parent 686d1e7548
commit 295041ef45
1 changed files with 9 additions and 9 deletions
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18
AntennaTracker/GCS_Mavlink.pde
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@ -585,7 +585,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_PREFLIGHT_CALIBRATION: case MAV_CMD_PREFLIGHT_CALIBRATION:
{ {
if (AP_Math::is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
ins.init_gyro(); ins.init_gyro();
if (ins.gyro_calibrated_ok_all()) { if (ins.gyro_calibrated_ok_all()) {
ahrs.reset_gyro_drift(); ahrs.reset_gyro_drift();
@ -594,16 +594,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
result = MAV_RESULT_FAILED; result = MAV_RESULT_FAILED;
} }
} }
if (AP_Math::is_equal(packet.param3,1.0f)) { if (is_equal(packet.param3,1.0f)) {
init_barometer(); init_barometer();
// zero the altitude difference on next baro update // zero the altitude difference on next baro update
nav_status.need_altitude_calibration = true; nav_status.need_altitude_calibration = true;
} }
if (AP_Math::is_equal(packet.param4,1.0f)) { if (is_equal(packet.param4,1.0f)) {
// Cant trim radio // Cant trim radio
} }
#if !defined( __AVR_ATmega1280__ ) #if !defined( __AVR_ATmega1280__ )
else if (AP_Math::is_equal(packet.param5,1.0f)) { else if (is_equal(packet.param5,1.0f)) {
float trim_roll, trim_pitch; float trim_roll, trim_pitch;
AP_InertialSensor_UserInteract_MAVLink interact(this); AP_InertialSensor_UserInteract_MAVLink interact(this);
if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) { if(ins.calibrate_accel(&interact, trim_roll, trim_pitch)) {
@ -618,10 +618,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_COMPONENT_ARM_DISARM: case MAV_CMD_COMPONENT_ARM_DISARM:
if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) { if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
if (AP_Math::is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
arm_servos(); arm_servos();
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} else if (AP_Math::is_zero(packet.param1)) { } else if (is_zero(packet.param1)) {
disarm_servos(); disarm_servos();
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} else { } else {
@ -665,16 +665,16 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN: case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
{ {
if (AP_Math::is_equal(packet.param1,1.0f) || AP_Math::is_equal(packet.param1,3.0f)) { if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
// when packet.param1 == 3 we reboot to hold in bootloader // when packet.param1 == 3 we reboot to hold in bootloader
hal.scheduler->reboot(AP_Math::is_equal(packet.param1,3.0f)); hal.scheduler->reboot(is_equal(packet.param1,3.0f));
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }
break; break;
} }
case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: { case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES: {
if (AP_Math::is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
gcs[chan-MAVLINK_COMM_0].send_autopilot_version(); gcs[chan-MAVLINK_COMM_0].send_autopilot_version();
result = MAV_RESULT_ACCEPTED; result = MAV_RESULT_ACCEPTED;
} }