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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
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16
ArduCopter/ArduCopter.pde
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@ -858,6 +858,12 @@ void loop()
// ------------------------------------------------- // -------------------------------------------------
estimate_velocity(); estimate_velocity();
// check for new GPS messages
// --------------------------
if(GPS_enabled){
update_GPS();
}
// perform 10hz tasks // perform 10hz tasks
// ------------------ // ------------------
medium_loop(); medium_loop();
@ -879,7 +885,7 @@ void loop()
Log_Write_Performance(); Log_Write_Performance();
gps_fix_count = 0; gps_fix_count = 0;
perf_mon_counter = 0; perf_mon_counter = 0;
} }
//PORTK &= B10111111; //PORTK &= B10111111;
} }
@ -901,10 +907,6 @@ static void fast_loop()
// IMU DCM Algorithm // IMU DCM Algorithm
read_AHRS(); read_AHRS();
if(GPS_enabled){
update_GPS();
}
// custom code/exceptions for flight modes // custom code/exceptions for flight modes
// --------------------------------------- // ---------------------------------------
update_yaw_mode(); update_yaw_mode();
@ -1292,8 +1294,8 @@ static void update_GPS(void)
}else{ }else{
// after 12 reads we guess we may have lost GPS signal, stop navigating // 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 // we have lost GPS signal for a moment. Reduce our error to avoid flyaways
nav_roll = 0; nav_roll >>= 1;
nav_pitch = 0; nav_pitch >>= 1;
} }
if (g_gps->new_data && g_gps->fix) { if (g_gps->new_data && g_gps->fix) {