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Converted to cm for distance

This commit is contained in:
Jason Short 2012-01-21 22:04:35 -08:00
parent 8cb645f3c2
commit 9003b95499
1 changed files with 8 additions and 7 deletions
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15
ArduCopter/ArduCopter.pde
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@ -323,6 +323,9 @@ static int16_t y_actual_speed;
static int16_t x_rate_error;
static int16_t y_rate_error;
//static int16_t my_max_speed; // used for debugging logs
//static int16_t target_x_rate;
////////////////////////////////////////////////////////////////////////////////
// Radio
////////////////////////////////////////////////////////////////////////////////
@ -360,8 +363,6 @@ static bool rc_override_active = false;
// Status flag that tracks whether we are under GCS control
static uint32_t rc_override_fs_timer = 0;
////////////////////////////////////////////////////////////////////////////////
// Heli
////////////////////////////////////////////////////////////////////////////////
@ -604,9 +605,9 @@ static int16_t landing_boost;
////////////////////////////////////////////////////////////////////////////////
// The location of the copter in relation to home, updated every GPS read
static int32_t home_to_copter_bearing;
// distance between plane and home in meters (not cm!!!)
// distance between plane and home in cm
static int32_t home_distance;
// distance between plane and next_WP in meters (not cm!!!)
// distance between plane and next_WP in cm
static int32_t wp_distance;
////////////////////////////////////////////////////////////////////////////////
@ -1532,7 +1533,7 @@ void update_throttle_mode(void)
takeoff_complete = false;
// reset baro data if we are near home
if(home_distance < 4 || GPS_enabled == false){
if(home_distance < 400 || GPS_enabled == false){ // 4m from home
// causes Baro to do a quick recalibration
// XXX commented until further testing
// reset_baro();
@ -1602,7 +1603,7 @@ void update_throttle_mode(void)
// get the AP throttle, if landing boost > 0 we are actually Landing
// This allows us to grab just the compensation.
if(landing_boost > 0)
nav_throttle = get_nav_throttle(-100);
nav_throttle = get_nav_throttle(-200);
else
nav_throttle = get_nav_throttle(altitude_error);
@ -1743,7 +1744,7 @@ static void update_navigation()
// are we in SIMPLE mode?
if(do_simple && g.super_simple){
// get distance to home
if(home_distance > 10){ // 10m from home
if(home_distance > 1000){ // 10m from home
// we reset the angular offset to be a vector from home to the quad
initial_simple_bearing = home_to_copter_bearing;
//Serial.printf("ISB: %d\n", initial_simple_bearing);