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ACM: make it possible to set AHRS_GPS_GAIN on ArduCopter 

this was affected by the AP_Param change, in particular the
constructor ordering. To ensure a user can set AHRS_GPS_GAIN to 1.0 if
they want to, we need to do a set_and_save() if the value isn't in
EEPROM
This commit is contained in:
Andrew Tridgell 2012-08-08 17:36:01 +10:00
parent f33d15ab80
commit 72935345ea
1 changed files with 4 additions and 1 deletions
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ArduCopter/Parameters.pde
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@ -358,7 +358,10 @@ const AP_Param::Info var_info[] PROGMEM = {
static void load_parameters(void) static void load_parameters(void)
{ {
// change the default for the AHRS_GPS_GAIN for ArduCopter // change the default for the AHRS_GPS_GAIN for ArduCopter
ahrs.gps_gain.set(0.0); // if it hasn't been set by the user
if (!ahrs.gps_gain.load()) {
ahrs.gps_gain.set_and_save(0.0);
}
if (!g.format_version.load() || if (!g.format_version.load() ||
g.format_version != Parameters::k_format_version) { g.format_version != Parameters::k_format_version) {