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Copter: use a common home with AHRS

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This commit is contained in:
Andrew Tridgell 2014-01-03 22:33:57 +11:00
parent 57e0eb4db5
commit c6e25483b4
3 changed files with 4 additions and 11 deletions
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5
ArduCopter/ArduCopter.pde
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@ -604,9 +604,8 @@ static int32_t baro_alt;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors // 3D Location vectors
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// home location is stored when we have a good GPS lock and arm the copter static const struct Location &home = ahrs.get_home();
// Can be reset each the copter is re-armed
static struct Location home;
// Current location of the copter // Current location of the copter
static struct Location current_loc; static struct Location current_loc;
// Holds the current loaded command from the EEPROM for navigation // Holds the current loaded command from the EEPROM for navigation

5
ArduCopter/commands.pde
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@ -117,10 +117,7 @@ static int32_t get_RTL_alt()
static void init_home() static void init_home()
{ {
set_home_is_set(true); set_home_is_set(true);
home.id = MAV_CMD_NAV_WAYPOINT; ahrs.set_home(g_gps->latitude, g_gps->longitude, 0);
home.lng = g_gps->longitude; // Lon * 10**7
home.lat = g_gps->latitude; // Lat * 10**7
home.alt = 0; // Home is always 0
// Save Home to EEPROM // Save Home to EEPROM
// ------------------- // -------------------

5
ArduCopter/commands_logic.pde
View File

@ -645,10 +645,7 @@ static void do_set_home()
if(command_cond_queue.p1 == 1) { if(command_cond_queue.p1 == 1) {
init_home(); init_home();
} else { } else {
home.id = MAV_CMD_NAV_WAYPOINT; ahrs.set_home(command_cond_queue.lat, command_cond_queue.lng, 0);
home.lng = command_cond_queue.lng; // Lon * 10**7
home.lat = command_cond_queue.lat; // Lat * 10**7
home.alt = 0;
//home_is_set = true; //home_is_set = true;
set_home_is_set(true); set_home_is_set(true);
} }