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ArduCopter: stop unnecessary updates of target altitude and knock-on effect of too many EV message in dataflash log

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This commit is contained in:
rmackay9 2012-12-17 16:34:20 +09:00
parent 1332ed3b5c
commit c8c13046e3
3 changed files with 14 additions and 1 deletions
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7
ArduCopter/AP_State.pde
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@ -99,6 +99,13 @@ void set_land_complete(bool b)
// --------------------------------------------- // ---------------------------------------------
void set_alt_change(uint8_t flag){ void set_alt_change(uint8_t flag){
// if no change, exit immediately
if( alt_change_flag == flag ) {
return;
}
// update flag
alt_change_flag = flag; alt_change_flag = flag;
if(flag == REACHED_ALT){ if(flag == REACHED_ALT){

2
ArduCopter/Attitude.pde
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@ -1010,7 +1010,7 @@ get_throttle_rate_stabilized(int16_t target_rate)
// do not let target altitude get too far from current altitude // do not let target altitude get too far from current altitude
target_alt = constrain(target_alt,current_loc.alt-750,current_loc.alt+750); target_alt = constrain(target_alt,current_loc.alt-750,current_loc.alt+750);
force_new_altitude(target_alt); set_new_altitude(target_alt);
get_throttle_althold(target_alt, ALTHOLD_MAX_CLIMB_RATE); get_throttle_althold(target_alt, ALTHOLD_MAX_CLIMB_RATE);
} }

6
ArduCopter/navigation.pde
View File

@ -541,6 +541,12 @@ static void force_new_altitude(int32_t new_alt)
static void set_new_altitude(int32_t new_alt) static void set_new_altitude(int32_t new_alt)
{ {
// if no change exit immediately
if(new_alt == next_WP.alt) {
return;
}
// update new target altitude
next_WP.alt = new_alt; next_WP.alt = new_alt;
if(next_WP.alt > (current_loc.alt + 80)) { if(next_WP.alt > (current_loc.alt + 80)) {