mirror of https://github.com/ArduPilot/ardupilot
Working on memory problem.
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1c5db5e963
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@ -96,15 +96,11 @@ private:
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float cmdDown = pidPD.update(_nav->getPD(),_nav->getVD(),dt);
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// "transform-to-body"
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{
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float trigSin = sin(-_nav->getYaw());
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float trigCos = cos(-_nav->getYaw());
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_cmdPitch = cmdEastTilt * trigCos - cmdNorthTilt * trigSin;
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_cmdRoll = -cmdEastTilt * trigSin + cmdNorthTilt * trigCos;
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// note that the north tilt is negative of the pitch
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}
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_cmdYawRate = 0;
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_cmdPitch = cmdNorthTilt * cos(_nav->getYaw()) + cmdEastTilt * sin(_nav->getYaw());
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_cmdRoll = -cmdNorthTilt * sin(_nav->getYaw()) + cmdEastTilt * cos(_nav->getYaw());
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_cmdPitch *= -1; // note that the north tilt is negative of the pitch
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_cmdYawRate = 0;
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_thrustMix = THRUST_HOVER_OFFSET + cmdDown;
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// "thrust-trim-adjust"
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@ -460,7 +460,7 @@ function(setup_arduino_upload BOARD_ID TARGET_NAME PORT)
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-p${${BOARD_ID}.build.mcu}
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-c${${BOARD_ID}.upload.protocol}
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-P${PORT} -b${${BOARD_ID}.upload.speed}
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-D
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#-D
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-Uflash:w:${CMAKE_BINARY_DIR}/${TARGET_NAME}.hex:i
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DEPENDS ${TARGET_NAME})
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if(NOT TARGET upload)
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@ -62,8 +62,8 @@ AP_MavlinkCommand::AP_MavlinkCommand(const mavlink_waypoint_t & cmd) :
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setZ(cmd.z);
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save();
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// reload home if sent
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if (cmd.seq == 0) home.load();
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// reload home if sent, home must be a global waypoint
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if ( (cmd.seq == 0) && (cmd.frame == MAV_FRAME_GLOBAL)) home.load();
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Serial.println("============================================================");
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Serial.println("storing new command from mavlink_waypoint_t");
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