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This commit is contained in:
Jason Short 2011-12-31 10:54:31 -08:00
parent 74b203c7f2
commit b3cea96970
1 changed files with 13 additions and 2 deletions
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15
ArduCopter/ArduCopter.pde
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@ -744,7 +744,6 @@ static void medium_loop()
// -------------------
g_gps->new_data = false;
// calculate the copter's desired bearing and WP distance
// ------------------------------------------------------
if(navigate()){
@ -1060,11 +1059,13 @@ static void update_GPS(void)
// ---------------
gps_fix_count++;
// we are not tracking I term on navigation, so this isn't needed
// used to calculate speed in X and Y, iterms
// ------------------------------------------
dTnav = (float)(millis() - nav_loopTimer)/ 1000.0;
nav_loopTimer = millis();
// prevent runup from bad GPS
// --------------------------
dTnav = min(dTnav, 1.0);
if(ground_start_count > 1){
@ -1420,6 +1421,12 @@ static void update_navigation()
update_nav_wp();
break;
case STABILIZE:
//wp_control = NO_NAV_MODE;
//update_nav_wp();
break;
}
// are we in SIMPLE mode?
@ -1767,6 +1774,10 @@ static void update_nav_wp()
}else if(wp_control == NO_NAV_MODE){
nav_roll = 0;
nav_pitch = 0;
// calc the Iterms for Loiter based on velicity
//calc_position_hold();
}
}