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found the issue with stability - something to do with APVar. 

commenting out 	setup_show(NULL,NULL); in startup_ground() causes some values to misload???
Or maybe it's a delay thing.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1839 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-04-03 00:47:20 +00:00
parent 6b405c5831
commit 5ef54d2de4
2 changed files with 16 additions and 11 deletions
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2
ArduCopterMega/commands_logic.pde
View File

@ -38,6 +38,7 @@ void handle_process_must()
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
do_RTL();
break;
default:
break;
}
@ -488,7 +489,6 @@ void do_target_yaw()
if(yaw_tracking & TRACK_TARGET_WP){
target_WP = next_command;
}
}
void do_loiter_at_location()

25
ArduCopterMega/system.pde
View File

@ -93,7 +93,7 @@ void init_ardupilot()
if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) {
Serial.printf_P(PSTR("\n\nForcing complete parameter reset..."));
//Serial.printf_P(PSTR("\n\nForcing complete parameter reset..."));
/*Serial.printf_P(PSTR("\n\nEEPROM format version %d not compatible with this firmware (requires %d)"
"\n\nForcing complete parameter reset..."),
@ -225,7 +225,7 @@ void startup_ground(void)
delay(GROUND_START_DELAY * 1000);
#endif
//setup_show(NULL,NULL);
setup_show(NULL,NULL);
// Output waypoints for confirmation
// --------------------------------
@ -319,14 +319,8 @@ void set_mode(byte mode)
break;
case SIMPLE:
if(g.rc_3.control_in == 0){ // we are on the ground
if(initial_simple_bearing == -1){ // only set once
initial_simple_bearing = dcm.yaw_sensor;
}
}else if(initial_simple_bearing == -1){ // we are flying
// don't enter simple mode
control_mode = STABILIZE; // just stabilize
}
//initial_simple_bearing = dcm.yaw_sensor;
init_simple_bearing();
break;
case LOITER:
@ -464,3 +458,14 @@ unsigned long freeRAM() {
return stackptr - heapptr;
}
void
init_simple_bearing()
{
if(simple_bearing_is_set == false){
if(g.rc_3.control_in == 0){
// we are on the ground
initial_simple_bearing = dcm.yaw_sensor;
simple_bearing_is_set = true;
}
}
}