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call gcs_update() while waiting for GPS lock

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this ensures we react to ground commands, and also allows HIL GPS to
work
This commit is contained in:
Andrew Tridgell 2011-11-09 17:43:55 +11:00
parent a0fd4f710f
commit c158cb8e63
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/commands.pde
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@ -188,10 +188,15 @@ static void set_next_WP(struct Location *wp)
// ------------------------------- // -------------------------------
static void init_home() static void init_home()
{ {
home_is_set = true;
// block until we get a good fix // block until we get a good fix
// ----------------------------- // -----------------------------
while (!g_gps->new_data || !g_gps->fix) { while (!g_gps->new_data || !g_gps->fix) {
g_gps->update(); g_gps->update();
// we need GCS update while waiting for GPS, to ensure
// we react to HIL mavlink
gcs_update();
} }
home.id = MAV_CMD_NAV_WAYPOINT; home.id = MAV_CMD_NAV_WAYPOINT;
@ -199,7 +204,6 @@ static void init_home()
home.lat = g_gps->latitude; // Lat * 10**7 home.lat = g_gps->latitude; // Lat * 10**7
//home.alt = max(g_gps->altitude, 0); // we sometimes get negatives from GPS, not valid //home.alt = max(g_gps->altitude, 0); // we sometimes get negatives from GPS, not valid
home.alt = 0; // Home is always 0 home.alt = 0; // Home is always 0
home_is_set = true;
// to point yaw towards home until we set it with Mavlink // to point yaw towards home until we set it with Mavlink
target_WP = home; target_WP = home;