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APMrover v2.1.6a - small update for LITE version

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Signed-off-by: Jean-Louis Naudin <jlnaudin@gmail.com>
This commit is contained in:
Jean-Louis Naudin 2012-05-20 17:45:07 +02:00
parent 6d24f5efb2
commit 84c5a392da
3 changed files with 7 additions and 5 deletions
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4
APMrover2/APM_Config.h
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@ -20,8 +20,8 @@
#define TRACE DISABLED
#include "APM_Config_HILmode.h" // for test in HIL mode with AeroSIM Rc 3.83
//#include "APM_Config_Rover.h" // to be used with the real Traxxas model Monster Jam Grinder
//#include "APM_Config_HILmode.h" // for test in HIL mode with AeroSIM Rc 3.83
#include "APM_Config_Rover.h" // to be used with the real Traxxas model Monster Jam Grinder
// Radio setup:
// APM INPUT (Rec = receiver)

4
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 v2.16 JL NAUDIN" //New version of the APMrover for the APM v1 or APM v2 and magnetometer + SONAR
#define THISFIRMWARE "APMrover v2.16a JL NAUDIN" //New version of the APMrover for the APM v1 or APM v2 and magnetometer + SONAR
// This is a full version of Arduplane v2.32 specially adapted for a Rover by Jean-Louis Naudin (JLN)
@ -18,7 +18,7 @@ License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
//
// JLN updates: last update 2012-05-17
// JLN updates: last update 2012-05-20
//
// DOLIST:
//

4
APMrover2/navigation.pde
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@ -76,12 +76,14 @@ static void calc_gndspeed_undershoot()
}
static void calc_bearing_error()
{
{
#if LITE == DISABLED
#if CONFIG_SONAR == ENABLED
if((g.sonar_enabled) && (sonar_dist < g.sonar_trigger)) {
nav_bearing += 9000; // if obstacle in front turn 90° right
}
#endif
#endif
bearing_error = nav_bearing - ground_course;
bearing_error = wrap_180(bearing_error);
}