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Rover: updates for new GPS detection

This commit is contained in:
Andrew Tridgell 2012-09-17 14:43:24 +10:00
parent 59b44816ec
commit 4939d67a1b
4 changed files with 7 additions and 26 deletions
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5
APMrover2/APMrover2.pde
View File

@ -444,9 +444,6 @@ static byte ground_start_count = 5;
// on the ground or in the air. Used to decide if a ground start is appropriate if we
// booted with an air start.
static int ground_start_avg;
// Tracks if GPS is enabled based on statup routine
// If we do not detect GPS at startup, we stop trying and assume GPS is not connected
static bool GPS_enabled = false;
static int32_t gps_base_alt;
////////////////////////////////////////////////////////////////////////////////
@ -885,10 +882,8 @@ static void medium_loop()
//-------------------------------
case 0:
medium_loopCounter++;
if(GPS_enabled){
update_GPS();
calc_gndspeed_undershoot();
}
//#if LITE == DISABLED
#if HIL_MODE != HIL_MODE_ATTITUDE

2
APMrover2/commands_logic.pde
View File

@ -461,7 +461,7 @@ static void do_change_speed()
static void do_set_home()
{
if(next_nonnav_command.p1 == 1 && GPS_enabled) {
if(next_nonnav_command.p1 == 1 && g_gps->status() == GPS::GPS_OK) {
init_home();
} else {
home.id = MAV_CMD_NAV_WAYPOINT;

2
APMrover2/navigation.pde
View File

@ -71,8 +71,10 @@ void calc_distance_error()
static void calc_gndspeed_undershoot()
{
if (g_gps->status() == GPS::GPS_OK) {
// Function is overkill, but here in case we want to add filtering later
groundspeed_undershoot = (g.min_gndspeed > 0) ? (g.min_gndspeed - ground_speed) : 0;
}
}
static void calc_bearing_error()

16
APMrover2/system.pde
View File

@ -235,7 +235,6 @@ static void init_ardupilot()
g_gps = &g_gps_driver;
// GPS initialisation
g_gps->init(GPS::GPS_ENGINE_AUTOMOTIVE);
g_gps->callback = mavlink_delay;
//mavlink_system.sysid = MAV_SYSTEM_ID; // Using g.sysid_this_mav
mavlink_system.compid = 1; //MAV_COMP_ID_IMU; // We do not check for comp id
@ -348,21 +347,6 @@ static void startup_ground(void)
// -------------------
init_commands();
// Read in the GPS - see if one is connected
GPS_enabled = false;
for (byte counter = 0; ; counter++) {
g_gps->update();
if (g_gps->status() != 0 || HIL_MODE != HIL_MODE_DISABLED){
GPS_enabled = true;
break;
}
if (counter >= 2) {
GPS_enabled = false;
break;
}
}
// Makes the servos wiggle - 3 times signals ready to fly
// -----------------------
demo_servos(3);