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No longer blocking before initing home

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This commit is contained in:
Jason Short 2011-12-23 14:22:44 -08:00
parent dc2103d67f
commit 7820d96f4c
1 changed files with 1 additions and 12 deletions
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13
ArduCopter/commands.pde
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@ -192,20 +192,9 @@ static void set_next_WP(struct Location *wp)
static void init_home() static void init_home()
{ {
home_is_set = true; home_is_set = true;
// block until we get a good fix
// -----------------------------
while (!g_gps->new_data || !g_gps->fix) {
g_gps->update();
// we need GCS update while waiting for GPS, to ensure
// we react to HIL mavlink
gcs_update();
}
home.id = MAV_CMD_NAV_WAYPOINT; home.id = MAV_CMD_NAV_WAYPOINT;
home.lng = g_gps->longitude; // Lon * 10**7 home.lng = g_gps->longitude; // Lon * 10**7
home.lat = g_gps->latitude; // Lat * 10**7 home.lat = g_gps->latitude; // Lat * 10**7
//home.alt = max(g_gps->altitude, 0); // we sometimes get negatives from GPS, not valid
home.alt = 0; // Home is always 0 home.alt = 0; // Home is always 0
// to point yaw towards home until we set it with Mavlink // to point yaw towards home until we set it with Mavlink
@ -220,7 +209,7 @@ static void init_home()
// Save prev loc this makes the calcs look better before commands are loaded // Save prev loc this makes the calcs look better before commands are loaded
prev_WP = home; prev_WP = home;
// // in case we RTL
next_WP = home; next_WP = home;
// Load home for a default guided_WP // Load home for a default guided_WP