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Moved updated alt to GPS so the climb rate is sane

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This commit is contained in:
Jason Short 2011-11-13 22:54:57 -08:00
parent 081cd0a225
commit e55ba471bc
1 changed files with 10 additions and 6 deletions
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16
ArduCopter/ArduCopter.pde
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@ -617,9 +617,8 @@ static void medium_loop()
update_GPS(); update_GPS();
} }
//readCommands();
#if HIL_MODE != HIL_MODE_ATTITUDE #if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
if(g.compass_enabled){ if(g.compass_enabled){
compass.read(); // Read magnetometer compass.read(); // Read magnetometer
compass.calculate(dcm.get_dcm_matrix()); // Calculate heading compass.calculate(dcm.get_dcm_matrix()); // Calculate heading
@ -677,7 +676,9 @@ static void medium_loop()
// Read altitude from sensors // Read altitude from sensors
// -------------------------- // --------------------------
#if HIL_MODE != HIL_MODE_ATTITUDE // don't execute in HIL mode
update_altitude(); update_altitude();
#endif
// invalidate the throttle hold value // invalidate the throttle hold value
// ---------------------------------- // ----------------------------------
@ -935,6 +936,10 @@ static void update_GPS(void)
Log_Write_GPS(); Log_Write_GPS();
} }
} }
#if HIL_MODE == HIL_MODE_ATTITUDE // don't execute in HIL mode
update_altitude();
#endif
} }
@ -1256,7 +1261,6 @@ static void update_altitude()
old_sonar_alt = sonar_alt; old_sonar_alt = sonar_alt;
#endif #endif
if(baro_alt < 800){ if(baro_alt < 800){
#if SONAR_TILT_CORRECTION == 1 #if SONAR_TILT_CORRECTION == 1
// correct alt for angle of the sonar // correct alt for angle of the sonar
@ -1466,9 +1470,9 @@ static void update_nav_wp()
// rotate pitch and roll to the copter frame of reference // rotate pitch and roll to the copter frame of reference
calc_loiter_pitch_roll(); calc_loiter_pitch_roll();
int angleTest = degrees(circle_angle); //int angleTest = degrees(circle_angle);
int nroll = nav_roll; //int nroll = nav_roll;
int npitch = nav_pitch; //int npitch = nav_pitch;
//Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll); //Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll);
} else { } else {
// use error as the desired rate towards the target // use error as the desired rate towards the target