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minor change to GPS 

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1834 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-04-02 19:56:35 +00:00
parent f2a9d38393
commit 6b405c5831
3 changed files with 46 additions and 9 deletions
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18
ArduCopterMega/ArduCopterMega.pde
View File

@ -235,6 +235,7 @@ boolean rate_yaw_flag; // used to transition yaw control from Rate control
// ----------
boolean motor_light; // status of the Motor safety
boolean GPS_light; // status of the GPS light
boolean timer_light; // status of the Motor safety
// GPS variables
// -------------
@ -427,7 +428,7 @@ unsigned long elapsedTime; // for doing custom events
float load; // % MCU cycles used
byte counter_one_herz;
bool GPS_disabled = true;
bool GPS_enabled = false;
////////////////////////////////////////////////////////////////////////////////
// Top-level logic
@ -448,9 +449,14 @@ void loop()
G_Dt = (float)delta_ms_fast_loop / 1000.f; // used by DCM integrator
mainLoop_count++;
//if(delta_ms_fast_loop > 11){
// Serial.println(delta_ms_fast_loop,DEC);
//}
/*
if(delta_ms_fast_loop > 11){
update_timer_light(true);
//Serial.println(delta_ms_fast_loop,DEC);
}else{
update_timer_light(false);
}*/
// Execute the fast loop
// ---------------------
fast_loop();
@ -525,7 +531,7 @@ void medium_loop()
medium_loopCounter++;
if(GPS_disabled == false){
if(GPS_enabled){
update_GPS();
}
@ -972,7 +978,7 @@ void update_current_flight_mode(void)
if(flight_timer > 10){
flight_timer = 0;
if(GPS_disabled){
if(GPS_enabled == false){
current_loc.lat = home.lat = 0;
current_loc.lng = home.lng = 0;
}

16
ArduCopterMega/setup.pde
View File

@ -69,6 +69,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
// clear the area
print_blanks(8);
report_version();
report_radio();
report_frame();
report_current();
@ -807,6 +808,14 @@ void report_current()
print_blanks(2);
}
void report_gps()
{
Serial.printf_P(PSTR("\nGPS\n"));
print_divider();
print_enabled(GPS_enabled);
print_blanks(2);
}
void report_sonar()
{
g.sonar_enabled.load();
@ -816,6 +825,13 @@ void report_sonar()
print_blanks(2);
}
void report_version()
{
Serial.printf_P(PSTR("FW Version %d\n"),(int)g.format_version.get());
print_divider();
print_blanks(2);
}
void report_frame()
{

21
ArduCopterMega/system.pde
View File

@ -85,11 +85,15 @@ void init_ardupilot()
"\n\nFree RAM: %lu\n"),
freeRAM());
//
// Check the EEPROM format version before loading any parameters from EEPROM.
//
report_version();
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\nEEPROM format version %d not compatible with this firmware (requires %d)"
"\n\nForcing complete parameter reset..."),
@ -255,20 +259,22 @@ void startup_ground(void)
init_commands();
byte counter = 4;
GPS_disabled = true;
GPS_enabled = false;
// Read in the GPS
for (byte counter = 0; ; counter++) {
g_gps->update();
if (g_gps->status() != 0){
GPS_enabled = true;
break;
}
if (counter >= 4) {
GPS_disabled = true;
GPS_enabled = false;
break;
}
}
report_gps();
SendDebug("\nReady to FLY ");
gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
}
@ -410,6 +416,15 @@ void update_motor_light(void)
}
}
void update_timer_light(bool light)
{
if(light == true){
digitalWrite(B_LED_PIN, HIGH);
}else{
digitalWrite(B_LED_PIN, LOW);
}
}
void resetPerfData(void) {
/*