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Arducopter.pde: Moved gps to 10hz. Changed calc_XY_velocity to calc_GPS_velocity.

This commit is contained in:
Adam M Rivera 2012-04-18 23:07:35 -05:00
parent d4a4641ae6
commit a7bc3d2cc6
1 changed files with 8 additions and 7 deletions
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15
ArduCopter/ArduCopter.pde
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@ -922,9 +922,9 @@ void loop()
// check for new GPS messages
// --------------------------
if(GPS_enabled){
update_GPS();
}
//if(GPS_enabled){
// update_GPS();
//}
// perform 10hz tasks
// ------------------
@ -996,9 +996,9 @@ static void medium_loop()
case 0:
medium_loopCounter++;
//if(GPS_enabled){
// update_GPS();
//}
if(GPS_enabled){
update_GPS();
}
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
if(g.compass_enabled){
@ -1036,7 +1036,8 @@ static void medium_loop()
// this calculates the velocity for Loiter
// only called when there is new data
// ----------------------------------
calc_XY_velocity();
//calc_XY_velocity();
calc_GPS_velocity();
// If we have optFlow enabled we can grab a more accurate speed
// here and override the speed from the GPS