Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
ArduCopter/ArduCopter.pde
View File

@ -922,9 +922,9 @@ void loop()
// check for new GPS messages // check for new GPS messages
// -------------------------- // --------------------------
if(GPS_enabled){ //if(GPS_enabled){
update_GPS(); // update_GPS();
} //}
// perform 10hz tasks // perform 10hz tasks
// ------------------ // ------------------
@ -996,9 +996,9 @@ static void medium_loop()
case 0: case 0:
medium_loopCounter++; medium_loopCounter++;
//if(GPS_enabled){ if(GPS_enabled){
// update_GPS(); update_GPS();
//} }
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode #if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
if(g.compass_enabled){ if(g.compass_enabled){
@ -1036,7 +1036,8 @@ static void medium_loop()
// this calculates the velocity for Loiter // this calculates the velocity for Loiter
// only called when there is new data // 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 // If we have optFlow enabled we can grab a more accurate speed
// here and override the speed from the GPS // here and override the speed from the GPS