Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-06 07:53:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: cleanup some bit if tests to be clearer

Browse Source 
Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
This commit is contained in:
Andrew Tridgell 2013-04-23 23:03:34 +10:00
parent 709a277c7f
commit 5ad9deecfb
4 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduCopter/ArduCopter.pde
View File

@ -1075,7 +1075,7 @@ static void medium_loop()
medium_loopCounter++; medium_loopCounter++;
// log compass information // log compass information
if (motors.armed() && g.log_bitmask & MASK_LOG_COMPASS) { if (motors.armed() && (g.log_bitmask & MASK_LOG_COMPASS)) {
Log_Write_Compass(); Log_Write_Compass();
} }
@ -1097,7 +1097,7 @@ static void medium_loop()
// perform next command // perform next command
// -------------------- // --------------------
if(control_mode == AUTO) { if(control_mode == AUTO) {
if(ap.home_is_set && g.command_total > 1) { if(ap.home_is_set && (g.command_total > 1)) {
update_commands(); update_commands();
} }
} }

2
ArduCopter/commands.pde
View File

@ -50,7 +50,7 @@ static struct Location get_cmd_with_index(int i)
} }
// Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative // Add on home altitude if we are a nav command (or other command with altitude) and stored alt is relative
//if((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && temp.options & MASK_OPTIONS_RELATIVE_ALT){ //if((temp.id < MAV_CMD_NAV_LAST || temp.id == MAV_CMD_CONDITION_CHANGE_ALT) && (temp.options & MASK_OPTIONS_RELATIVE_ALT)){
//temp.alt += home.alt; //temp.alt += home.alt;
//} //}

4
ArduCopter/inertia.pde
View File

@ -8,7 +8,7 @@ static void read_inertia()
// inertial altitude estimates // inertial altitude estimates
inertial_nav.update(G_Dt); inertial_nav.update(G_Dt);
if( motors.armed() && g.log_bitmask & MASK_LOG_INAV ) { if( motors.armed() && (g.log_bitmask & MASK_LOG_INAV) ) {
log_counter_inav++; log_counter_inav++;
if( log_counter_inav >= 10 ) { if( log_counter_inav >= 10 ) {
log_counter_inav = 0; log_counter_inav = 0;
@ -23,4 +23,4 @@ static void read_inertial_altitude()
// with inertial nav we can update the altitude and climb rate at 50hz // with inertial nav we can update the altitude and climb rate at 50hz
current_loc.alt = inertial_nav.get_altitude(); current_loc.alt = inertial_nav.get_altitude();
climb_rate = inertial_nav.get_velocity_z(); climb_rate = inertial_nav.get_velocity_z();
} }

2
ArduCopter/navigation.pde
View File

@ -20,7 +20,7 @@ static void update_navigation()
update_nav_mode(); update_nav_mode();
// update log // update log
if (g.log_bitmask & MASK_LOG_NTUN && motors.armed()) { if ((g.log_bitmask & MASK_LOG_NTUN) && motors.armed()) {
Log_Write_Nav_Tuning(); Log_Write_Nav_Tuning();
} }
} }