Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: changes for GPS field changes

This commit is contained in:
Andrew Tridgell 2013-07-10 14:03:03 +10:00
parent da4137b731
commit 3c97fad2ec
6 changed files with 18 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduPlane/ArduPlane.pde
View File

@ -957,7 +957,7 @@ static void update_GPS(void)
if(ground_start_count > 1) {
ground_start_count--;
ground_start_avg += g_gps->ground_speed;
ground_start_avg += g_gps->ground_speed_cm;
} else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes
@ -1021,7 +1021,7 @@ static void update_flight_mode(void)
if (nav_pitch_cd < takeoff_pitch_cd)
nav_pitch_cd = takeoff_pitch_cd;
} else {
nav_pitch_cd = (g_gps->ground_speed / (float)g.airspeed_cruise_cm) * takeoff_pitch_cd;
nav_pitch_cd = (g_gps->ground_speed_cm / (float)g.airspeed_cruise_cm) * takeoff_pitch_cd;
nav_pitch_cd = constrain_int32(nav_pitch_cd, 500, takeoff_pitch_cd);
}
@ -1235,10 +1235,12 @@ static void update_alt()
//altitude_sensor = BARO;
if (barometer.healthy) {
current_loc.alt = (1 - g.altitude_mix) * g_gps->altitude; // alt_MSL centimeters (meters * 100)
// alt_MSL centimeters (centimeters)
current_loc.alt = (1 - g.altitude_mix) * g_gps->altitude_cm;
current_loc.alt += g.altitude_mix * (read_barometer() + home.alt);
} else if (g_gps->status() >= GPS::GPS_OK_FIX_3D) {
current_loc.alt = g_gps->altitude; // alt_MSL centimeters (meters * 100)
// alt_MSL centimeters (centimeters)
current_loc.alt = g_gps->altitude_cm;
}
geofence_check(true);

6
ArduPlane/Attitude.pde
View File

@ -259,7 +259,7 @@ static void stabilize()
if (channel_throttle->control_in == 0 &&
relative_altitude_abs_cm() < 500 &&
fabs(barometer.get_climb_rate()) < 0.5f &&
g_gps->ground_speed < 300) {
g_gps->ground_speed_cm < 300) {
// we are low, with no climb rate, and zero throttle, and very
// low ground speed. Zero the attitude controller
// integrators. This prevents integrator buildup pre-takeoff.
@ -405,7 +405,7 @@ static bool auto_takeoff_check(void)
// no auto takeoff without GPS lock
return false;
}
if (g_gps->ground_speed < g.takeoff_throttle_min_speed*100.0f) {
if (g_gps->ground_speed_cm < g.takeoff_throttle_min_speed*100.0f) {
// we haven't reached the minimum ground speed
return false;
}
@ -519,7 +519,7 @@ static bool suppress_throttle(void)
if (g_gps != NULL &&
g_gps->status() >= GPS::GPS_OK_FIX_2D &&
g_gps->ground_speed >= 500) {
g_gps->ground_speed_cm >= 500) {
// if we have an airspeed sensor, then check it too, and
// require 5m/s. This prevents throttle up due to spiky GPS
// groundspeed with bad GPS reception

10
ArduPlane/GCS_Mavlink.pde
View File

@ -264,7 +264,7 @@ static void NOINLINE send_location(mavlink_channel_t chan)
fix_time,
current_loc.lat, // in 1E7 degrees
current_loc.lng, // in 1E7 degrees
g_gps->altitude * 10, // millimeters above sea level
g_gps->altitude_cm * 10, // millimeters above sea level
relative_altitude() * 1.0e3, // millimeters above ground
g_gps->velocity_north() * 100, // X speed cm/s (+ve North)
g_gps->velocity_east() * 100, // Y speed cm/s (+ve East)
@ -294,11 +294,11 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
g_gps->status(),
g_gps->latitude, // in 1E7 degrees
g_gps->longitude, // in 1E7 degrees
g_gps->altitude * 10, // in mm
g_gps->altitude_cm * 10, // in mm
g_gps->hdop,
65535,
g_gps->ground_speed, // cm/s
g_gps->ground_course, // 1/100 degrees,
g_gps->ground_speed_cm, // cm/s
g_gps->ground_course_cd, // 1/100 degrees,
g_gps->num_sats);
}
@ -386,7 +386,7 @@ static void NOINLINE send_vfr_hud(mavlink_channel_t chan)
mavlink_msg_vfr_hud_send(
chan,
aspeed,
(float)g_gps->ground_speed * 0.01,
(float)g_gps->ground_speed_cm * 0.01f,
(ahrs.yaw_sensor / 100) % 360,
throttle,
current_loc.alt / 100.0,

2
ArduPlane/commands.pde
View File

@ -236,7 +236,7 @@ void init_home()
home.id = MAV_CMD_NAV_WAYPOINT;
home.lng = g_gps->longitude; // Lon * 10**7
home.lat = g_gps->latitude; // Lat * 10**7
home.alt = max(g_gps->altitude, 0);
home.alt = max(g_gps->altitude_cm, 0);
home_is_set = true;
gcs_send_text_fmt(PSTR("gps alt: %lu"), (unsigned long)home.alt);

4
ArduPlane/commands_logic.pde
View File

@ -345,7 +345,7 @@ static bool verify_land()
// Set land_complete if we are within 2 seconds distance or within
// 3 meters altitude of the landing point
if ((wp_distance <= (g.land_flare_sec*g_gps->ground_speed*0.01))
if ((wp_distance <= (g.land_flare_sec*g_gps->ground_speed_cm*0.01f))
|| (adjusted_altitude_cm() <= next_WP.alt + g.land_flare_alt*100)) {
land_complete = true;
@ -364,7 +364,7 @@ static bool verify_land()
gcs_send_text_fmt(PSTR("Land Complete - Hold course %ld"), hold_course_cd);
}
if (g_gps->ground_speed*0.01 < 3.0) {
if (g_gps->ground_speed_cm*0.01f < 3.0) {
// reload any airspeed or groundspeed parameters that may have
// been set for landing. We don't do this till ground
// speed drops below 3.0 m/s as otherwise we will change

2
ArduPlane/test.pde
View File

@ -453,7 +453,7 @@ test_gps(uint8_t argc, const Menu::arg *argv)
cliSerial->printf_P(PSTR("Lat: %ld, Lon %ld, Alt: %ldm, #sats: %d\n"),
(long)g_gps->latitude,
(long)g_gps->longitude,
(long)g_gps->altitude/100,
(long)g_gps->altitude_cm/100,
(int)g_gps->num_sats);
}else{
cliSerial->printf_P(PSTR("."));