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moved GPS routines to 50hz loop to avoid delay.

This commit is contained in:
Jason Short 2012-01-12 22:59:47 -08:00
parent 648a404ee1
commit b0810e054e
1 changed files with 10 additions and 10 deletions
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20
ArduCopter/ArduCopter.pde
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@ -901,6 +901,10 @@ static void fast_loop()
// IMU DCM Algorithm // IMU DCM Algorithm
read_AHRS(); read_AHRS();
if(GPS_enabled){
update_GPS();
}
// custom code/exceptions for flight modes // custom code/exceptions for flight modes
// --------------------------------------- // ---------------------------------------
update_yaw_mode(); update_yaw_mode();
@ -931,10 +935,6 @@ static void medium_loop()
case 0: case 0:
medium_loopCounter++; medium_loopCounter++;
if(GPS_enabled){
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){
if (compass.read()) { if (compass.read()) {
@ -962,10 +962,6 @@ static void medium_loop()
// clear nav flag // clear nav flag
nav_ok = false; nav_ok = false;
// invalidate GPS data
// -------------------
g_gps->new_data = false;
// calculate the copter's desired bearing and WP distance // calculate the copter's desired bearing and WP distance
// ------------------------------------------------------ // ------------------------------------------------------
if(navigate()){ if(navigate()){
@ -1296,11 +1292,15 @@ static void update_GPS(void)
}else{ }else{
// after 12 reads we guess we may have lost GPS signal, stop navigating // after 12 reads we guess we may have lost GPS signal, stop navigating
// we have lost GPS signal for a moment. Reduce our error to avoid flyaways // we have lost GPS signal for a moment. Reduce our error to avoid flyaways
nav_roll >>= 1; nav_roll = 0;
nav_pitch >>= 1; nav_pitch = 0;
} }
if (g_gps->new_data && g_gps->fix) { if (g_gps->new_data && g_gps->fix) {
// clear new data flag
g_gps->new_data = false;
gps_watchdog = 0; gps_watchdog = 0;
// OK to run the nav routines // OK to run the nav routines