Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 16:23:56 -04:00
Code Issues Packages Projects Releases Wiki Activity

Copter: compass set-initial-location uses ahrs location

Browse Source 
Previously it could attempt to use a gps location even if gps was not being used
Also compass-accumulate moved to sensors.cpp
This commit is contained in:
Randy Mackay 2017-06-05 16:52:31 +09:00
parent 814cadac68
commit cb76bd8f3d
4 changed files with 23 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
ArduCopter/ArduCopter.cpp
View File

@ -178,16 +178,6 @@ void Copter::setup()
fast_loopTimer = AP_HAL::micros(); fast_loopTimer = AP_HAL::micros();
} }
/*
if the compass is enabled then try to accumulate a reading
*/
void Copter::compass_accumulate(void)
{
if (g.compass_enabled) {
compass.accumulate();
}
}
/* /*
try to accumulate a baro reading try to accumulate a baro reading
*/ */

1
ArduCopter/Copter.h
View File

@ -285,6 +285,7 @@ private:
uint8_t motor_interlock_switch : 1; // 23 // true if pilot is requesting motor interlock enable uint8_t motor_interlock_switch : 1; // 23 // true if pilot is requesting motor interlock enable
uint8_t in_arming_delay : 1; // 24 // true while we are armed but waiting to spin motors uint8_t in_arming_delay : 1; // 24 // true while we are armed but waiting to spin motors
uint8_t initialised_params : 1; // 25 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done uint8_t initialised_params : 1; // 25 // true when the all parameters have been initialised. we cannot send parameters to the GCS until this is done
uint8_t compass_init_location : 1; // 26 // true when the compass's initial location has been set
}; };
uint32_t value; uint32_t value;
} ap; } ap;

4
ArduCopter/commands.cpp
View File

@ -72,10 +72,6 @@ bool Copter::set_home(const Location& loc, bool lock)
// init inav and compass declination // init inav and compass declination
if (ap.home_state == HOME_UNSET) { if (ap.home_state == HOME_UNSET) {
// Set compass declination automatically
if (g.compass_enabled) {
compass.set_initial_location(gps.location().lat, gps.location().lng);
}
// update navigation scalers. used to offset the shrinking longitude as we go towards the poles // update navigation scalers. used to offset the shrinking longitude as we go towards the poles
scaleLongDown = longitude_scale(loc); scaleLongDown = longitude_scale(loc);
// record home is set // record home is set

22
ArduCopter/sensors.cpp
View File

@ -113,6 +113,28 @@ void Copter::init_compass()
ahrs.set_compass(&compass); ahrs.set_compass(&compass);
} }
/*
if the compass is enabled then try to accumulate a reading
also update initial location used for declination
*/
void Copter::compass_accumulate(void)
{
if (!g.compass_enabled) {
return;
}
compass.accumulate();
// update initial location used for declination
if (!ap.compass_init_location) {
Location loc;
if (ahrs.get_position(loc)) {
compass.set_initial_location(loc.lat, loc.lng);
ap.compass_init_location = true;
}
}
}
// initialise optical flow sensor // initialise optical flow sensor
void Copter::init_optflow() void Copter::init_optflow()
{ {