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APMrover v2.0b - Special update for rover heading calculation if compass is enabled

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Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>
This commit is contained in:
Jean-Louis Naudin 2012-05-02 21:39:10 +02:00 committed by Andrew Tridgell
parent 53cbbfaaa4
commit 602fe6e55a
4 changed files with 21 additions and 7 deletions
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3
APMrover2/APM_Config_Rover.h
View File

@ -14,6 +14,9 @@
#define MAGNETOMETER ENABLED
#define LOGGING_ENABLED ENABLED
#define MAG_ORIENTATION AP_COMPASS_COMPONENTS_UP_PINS_FORWARD
#define PARAM_DECLINATION 0.18 // Paris
//////////////////////////////////////////////////////////////////////////////
// Serial port speeds.
//

10
APMrover2/APMrover2.pde
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@ -1,6 +1,6 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#define THISFIRMWARE "APMrover v2.0a JL NAUDIN" //New version of the APMrover for the APM v1 or APM v2 and magnetometer
#define THISFIRMWARE "APMrover v2.0b JL NAUDIN" //New version of the APMrover for the APM v1 or APM v2 and magnetometer
// This is a full version of Arduplane v2.32 specially adapted for a Rover by Jean-Louis Naudin (JLN)
@ -24,6 +24,7 @@ version 2.1 of the License, or (at your option) any later version.
//-------------------------------------------------------------------------------------------------------------------------
// Dev Startup : 2012-04-21
//
// 2012-05-01: special update for rover about ground_course if compass is enabled
// 2012-04-30: Successfully tested in autonomous nav with a waypoints list recorded in live mode
// 2012-04-30: Now a full version for APM v1 or APM v2 with magnetometer
// 2012-04-27: Cosmetic changes
@ -1046,8 +1047,13 @@ static void update_GPS(void)
current_loc.lng = g_gps->longitude; // Lon * 10**7
current_loc.lat = g_gps->latitude; // Lat * 10**7
current_loc.alt = max((g_gps->altitude - home.alt),0);
ground_course = g_gps->ground_course;
ground_speed = g_gps->ground_speed;
if (g.compass_enabled) {
ground_course = (wrap_360(ToDeg(compass.heading) * 100));
} else {
ground_course = g_gps->ground_course;
}
// see if we've breached the geo-fence
geofence_check(false);

11
APMrover2/GCS_Mavlink.pde
View File

@ -317,7 +317,9 @@ static void NOINLINE send_location(mavlink_channel_t chan)
g_gps->ground_speed * rot.a.x, // X speed cm/s
g_gps->ground_speed * rot.b.x, // Y speed cm/s
g_gps->ground_speed * rot.c.x,
g_gps->ground_course); // course in 1/100 degree
//g_gps->ground_course); // course in 1/100 degree
ground_course); // course in 1/100 degree
}
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
@ -355,7 +357,8 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
g_gps->hdop,
65535,
g_gps->ground_speed, // cm/s
g_gps->ground_course, // 1/100 degrees,
//g_gps->ground_course, // 1/100 degrees,
ground_course, // 1/100 degrees,
g_gps->num_sats);
#else // MAVLINK10
@ -369,7 +372,9 @@ static void NOINLINE send_gps_raw(mavlink_channel_t chan)
g_gps->hdop,
0.0,
g_gps->ground_speed / 100.0,
g_gps->ground_course / 100.0);
//ground_course = (wrap_360(ToDeg(compass.heading) * 100));
//g_gps->ground_course / 100.0);
ground_course / 100.0);
#endif // MAVLINK10
}

4
APMrover2/Log.pde
View File

@ -356,8 +356,8 @@ static void Log_Write_GPS( int32_t log_Time, int32_t log_Lattitude, int32_t log_
DataFlash.WriteLong(log_gps_alt);
DataFlash.WriteLong(log_Ground_Speed);
DataFlash.WriteLong(log_Ground_Course);
DataFlash.WriteInt((int16_t)Vz);
DataFlash.WriteInt((int16_t)delta_Vz);
DataFlash.WriteInt(0);
DataFlash.WriteInt(0);
DataFlash.WriteInt((int)airspeed);
DataFlash.WriteByte(END_BYTE);
}