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Fixed APO bug in current waypoint update.

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This commit is contained in:
James Goppert 2011-10-27 17:23:08 -04:00
parent fc12113167
commit 9192143c44
4 changed files with 6 additions and 5 deletions
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1
.gitignore vendored
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@ -17,3 +17,4 @@ build
/Tools/ArdupilotMegaPlanner/obj
/Tools/ArdupilotMegaPlanner/resedit/bin
/Tools/ArdupilotMegaPlanner/resedit/obj
tags

1
ArduRover/CarStampede.h
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@ -11,6 +11,7 @@
// vehicle options
static const apo::vehicle_t vehicle = apo::VEHICLE_CAR;
//static const apo::halMode_t halMode = apo::MODE_HIL_CNTL;
static const apo::halMode_t halMode = apo::MODE_LIVE;
static const apo::board_t board = apo::BOARD_ARDUPILOTMEGA_1280;
static const uint8_t heartBeatTimeout = 3;

5
libraries/APO/AP_Autopilot.cpp
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@ -80,18 +80,17 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
} else if (hal->getMode() == MODE_HIL_CNTL) { // hil
hal->hil->sendMessage(MAVLINK_MSG_ID_HEARTBEAT);
hal->hil->receive();
Serial.println("HIL Receive Called");
if (_navigator->getTimeStamp() != 0) {
// give hil a chance to send some packets
for (int i = 0; i < 5; i++) {
hal->debug->println_P(PSTR("reading initial hil packets"));
hal->gcs->sendText(SEVERITY_LOW,
PSTR("reading initial hil packets"));
hal->gcs->sendText(SEVERITY_LOW, PSTR("reading initial hil packets"));
delay(1000);
}
break;
}
hal->debug->println_P(PSTR("waiting for hil packet"));
hal->gcs->sendText(SEVERITY_LOW, PSTR("waiting for hil packets"));
}
delay(500);
}

2
libraries/APO/AP_Guide.cpp
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@ -128,7 +128,7 @@ void MavlinkGuide::nextCommand() {
_nextCommandCalls = 0;
}
_cmdIndex = getNextIndex();
setCurrentIndex(getNextIndex());
//Serial.print("cmd : "); Serial.println(int(_cmdIndex));
//Serial.print("cmd prev : "); Serial.println(int(getPreviousIndex()));
//Serial.print("cmd num : "); Serial.println(int(getNumberOfCommands()));