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APMRover2: unhide default NAVL1_PERIOD with a define 

set the correct value to param
This commit is contained in:
Pierre Kancir 2017-02-20 15:06:20 +01:00 committed by Grant Morphett
parent 01e01d1df9
commit d4bd61d859
4 changed files with 10 additions and 3 deletions
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2
APMrover2/Parameters.cpp
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@ -621,5 +621,5 @@ void Rover::load_parameters(void)
cliSerial->printf("load_all took %luus\n", micros() - before); cliSerial->printf("load_all took %luus\n", micros() - before);
// set a more reasonable default NAVL1_PERIOD for rovers // set a more reasonable default NAVL1_PERIOD for rovers
L1_controller.set_default_period(8); L1_controller.set_default_period(NAVL1_PERIOD);
} }

7
APMrover2/config.h
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@ -182,6 +182,13 @@
#define CAMERA ENABLED #define CAMERA ENABLED
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// NAVL1
//
#ifndef NAVL1
#define NAVL1_PERIOD 8
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// AIRSPEED_CRUISE // AIRSPEED_CRUISE
// //

2
Tools/autotest/default_params/rover-skid.parm
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@ -27,7 +27,7 @@ MODE5 2
MODE6 0 MODE6 0
STEER2SRV_P 1.8 STEER2SRV_P 1.8
SIM_GPS_DELAY 1 SIM_GPS_DELAY 1
NAVL1_PERIOD 6 NAVL1_PERIOD 8
# we need small INS_ACC offsets so INS is recognised as being calibrated # we need small INS_ACC offsets so INS is recognised as being calibrated
INS_ACCOFFS_X 0.001 INS_ACCOFFS_X 0.001
INS_ACCOFFS_Y 0.001 INS_ACCOFFS_Y 0.001

2
Tools/autotest/default_params/rover.parm
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@ -21,7 +21,7 @@ MODE5 2
MODE6 0 MODE6 0
STEER2SRV_P 1.8 STEER2SRV_P 1.8
SIM_GPS_DELAY 1 SIM_GPS_DELAY 1
NAVL1_PERIOD 6 NAVL1_PERIOD 8
# we need small INS_ACC offsets so INS is recognised as being calibrated # we need small INS_ACC offsets so INS is recognised as being calibrated
INS_ACCOFFS_X 0.001 INS_ACCOFFS_X 0.001
INS_ACCOFFS_Y 0.001 INS_ACCOFFS_Y 0.001