Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-22 07:44:03 -04:00
Code Issues Packages Projects Releases Wiki Activity

Plane: fixes for updated AP_Math and AHRS APIs

Browse Source 
Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
This commit is contained in:
Andrew Tridgell 2013-08-05 10:30:04 +10:00
parent 086c7d70d8
commit a33573352e
4 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/ArduPlane.pde
View File

@ -987,7 +987,7 @@ static void update_GPS(void)
} }
// get position from AHRS // get position from AHRS
have_position = ahrs.get_position(&current_loc); have_position = ahrs.get_position(current_loc);
if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) { if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
g_gps->new_data = false; g_gps->new_data = false;

4
ArduPlane/commands_logic.pde
View File

@ -393,7 +393,7 @@ static bool verify_nav_wp()
if (wp_distance <= nav_controller->turn_distance(g.waypoint_radius)) { if (wp_distance <= nav_controller->turn_distance(g.waypoint_radius)) {
gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"), gcs_send_text_fmt(PSTR("Reached Waypoint #%i dist %um"),
(unsigned)nav_command_index, (unsigned)nav_command_index,
(unsigned)get_distance(&current_loc, &next_WP)); (unsigned)get_distance(current_loc, next_WP));
return true; return true;
} }
@ -401,7 +401,7 @@ static bool verify_nav_wp()
if (location_passed_point(current_loc, prev_WP, next_WP)) { if (location_passed_point(current_loc, prev_WP, next_WP)) {
gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"), gcs_send_text_fmt(PSTR("Passed Waypoint #%i dist %um"),
(unsigned)nav_command_index, (unsigned)nav_command_index,
(unsigned)get_distance(&current_loc, &next_WP)); (unsigned)get_distance(current_loc, next_WP));
return true; return true;
} }

2
ArduPlane/geofence.pde
View File

@ -213,7 +213,7 @@ static void geofence_check(bool altitude_check_only)
} else if (geofence_check_maxalt()) { } else if (geofence_check_maxalt()) {
outside = true; outside = true;
breach_type = FENCE_BREACH_MAXALT; breach_type = FENCE_BREACH_MAXALT;
} else if (!altitude_check_only && ahrs.get_position(&loc)) { } else if (!altitude_check_only && ahrs.get_position(loc)) {
Vector2l location; Vector2l location;
location.x = loc.lat; location.x = loc.lat;
location.y = loc.lng; location.y = loc.lng;

8
ArduPlane/navigation.pde
View File

@ -60,7 +60,7 @@ static void navigate()
// waypoint distance from plane // waypoint distance from plane
// ---------------------------- // ----------------------------
wp_distance = get_distance(&current_loc, &next_WP); wp_distance = get_distance(current_loc, next_WP);
if (wp_distance < 0) { if (wp_distance < 0) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("WP error - distance < 0")); gcs_send_text_P(SEVERITY_HIGH,PSTR("WP error - distance < 0"));
@ -186,9 +186,9 @@ static void update_cruise()
if (cruise_state.locked_heading) { if (cruise_state.locked_heading) {
next_WP = prev_WP; next_WP = prev_WP;
// always look 1km ahead // always look 1km ahead
location_update(&next_WP, location_update(next_WP,
cruise_state.locked_heading_cd*0.01f, cruise_state.locked_heading_cd*0.01f,
get_distance(&prev_WP, &current_loc) + 1000); get_distance(prev_WP, current_loc) + 1000);
nav_controller->update_waypoint(prev_WP, next_WP); nav_controller->update_waypoint(prev_WP, next_WP);
} }
} }
@ -233,7 +233,7 @@ static void setup_glide_slope(void)
{ {
// establish the distance we are travelling to the next waypoint, // establish the distance we are travelling to the next waypoint,
// for calculating out rate of change of altitude // for calculating out rate of change of altitude
wp_totalDistance = get_distance(&current_loc, &next_WP); wp_totalDistance = get_distance(current_loc, next_WP);
wp_distance = wp_totalDistance; wp_distance = wp_totalDistance;
/* /*