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Rover: log the X accel that triggers auto

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This commit is contained in:
Andrew Tridgell 2013-03-22 11:54:04 +11:00
parent 1d983b3f2e
commit a88ac50e6c
3 changed files with 5 additions and 4 deletions
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1
APMrover2/APMrover2.pde
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@ -119,6 +119,7 @@ static Parameters g;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// prototypes // prototypes
static void update_events(void); static void update_events(void);
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// DataFlash // DataFlash

3
APMrover2/GCS_Mavlink.pde
View File

@ -9,9 +9,6 @@ static bool mavlink_active;
// check if a message will fit in the payload space available // check if a message will fit in the payload space available
#define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false #define CHECK_PAYLOAD_SIZE(id) if (payload_space < MAVLINK_MSG_ID_## id ##_LEN) return false
// prototype this for use inside the GCS class
void gcs_send_text_fmt(const prog_char_t *fmt, ...);
/* /*
* !!NOTE!! * !!NOTE!!
* *

5
APMrover2/Steering.pde
View File

@ -42,13 +42,16 @@ static bool auto_check_trigger(void)
if (g.auto_trigger_pin != -1) { if (g.auto_trigger_pin != -1) {
hal.gpio->pinMode(g.auto_trigger_pin, GPIO_INPUT); hal.gpio->pinMode(g.auto_trigger_pin, GPIO_INPUT);
if (hal.gpio->read(g.auto_trigger_pin) == 0) { if (hal.gpio->read(g.auto_trigger_pin) == 0) {
gcs_send_text_P(SEVERITY_LOW, PSTR("Triggered AUTO with pin"));
auto_triggered = true; auto_triggered = true;
return true; return true;
} }
} }
if (g.auto_kickstart != 0.0f) { if (g.auto_kickstart != 0.0f) {
if (ins.get_accel().x >= g.auto_kickstart) { float xaccel = ins.get_accel().x;
if (xaccel >= g.auto_kickstart) {
gcs_send_text_fmt(PSTR("Triggered AUTO xaccel=%.1f"), xaccel);
auto_triggered = true; auto_triggered = true;
return true; return true;
} }