Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

fixed GPS bug - moved to fast loop location

This commit is contained in:
Jason Short 2012-01-13 12:47:22 -08:00
parent c327a9f000
commit 8d909f6eed
1 changed files with 9 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
ArduCopter/ArduCopter.pde
View File

@ -858,6 +858,12 @@ void loop()
// -------------------------------------------------
estimate_velocity();
// check for new GPS messages
// --------------------------
if(GPS_enabled){
update_GPS();
}
// perform 10hz tasks
// ------------------
medium_loop();
@ -879,7 +885,7 @@ void loop()
Log_Write_Performance();
gps_fix_count = 0;
perf_mon_counter = 0;
perf_mon_counter = 0;
}
//PORTK &= B10111111;
}
@ -901,10 +907,6 @@ static void fast_loop()
// IMU DCM Algorithm
read_AHRS();
if(GPS_enabled){
update_GPS();
}
// custom code/exceptions for flight modes
// ---------------------------------------
update_yaw_mode();
@ -1292,8 +1294,8 @@ static void update_GPS(void)
}else{
// after 12 reads we guess we may have lost GPS signal, stop navigating
// we have lost GPS signal for a moment. Reduce our error to avoid flyaways
nav_roll = 0;
nav_pitch = 0;
nav_roll >>= 1;
nav_pitch >>= 1;
}
if (g_gps->new_data && g_gps->fix) {