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ACM: Added a filtered version of Location for GPS lag. 

I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
This commit is contained in:
Jason Short 2012-08-14 14:07:40 -07:00
parent 993c89c4f8
commit a4bc5950cf
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/ArduCopter.pde
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@ -735,6 +735,8 @@ static struct Location home;
static boolean home_is_set;
// Current location of the copter
static struct Location current_loc;
// lead filtered loc
static struct Location filtered_loc;
// Next WP is the desired location of the copter - the next waypoint or loiter location
static struct Location next_WP;
// Prev WP is used to get the optimum path from one WP to the next
@ -746,8 +748,6 @@ static struct Location command_cond_queue;
// Holds the current loaded command from the EEPROM for guided mode
static struct Location guided_WP;
// should we take the waypoint quickly or slow down?
static bool fast_corner;
////////////////////////////////////////////////////////////////////////////////
// Crosstrack
@ -757,6 +757,8 @@ static bool fast_corner;
static int32_t original_target_bearing;
// The amount of angle correction applied to target_bearing to bring the copter back on its optimum path
static int16_t crosstrack_error;
// should we take the waypoint quickly or slow down?
static bool fast_corner;
////////////////////////////////////////////////////////////////////////////////
@ -1533,10 +1535,8 @@ static void update_GPS(void)
}
}
// the saving of location moved into calc_XY_velocity
//current_loc.lng = g_gps->longitude; // Lon * 10 * *7
//current_loc.lat = g_gps->latitude; // Lat * 10 * *7
current_loc.lng = g_gps->longitude; // Lon * 10^7
current_loc.lat = g_gps->latitude; // Lat * 10^7
calc_XY_velocity();