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added ability to enter Loiter with only optflow available

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This commit is contained in:
Jason Short 2011-12-23 14:42:05 -08:00
parent 73a73fbf35
commit e5a3899b7f
1 changed files with 14 additions and 5 deletions
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19
ArduCopter/system.pde
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@ -215,7 +215,11 @@ static void init_ardupilot()
if (need_log_erase) { if (need_log_erase) {
uint8_t count = 0; uint8_t count = 0;
gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS")); gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
#if LOGGING_ENABLED == ENABLED
do_erase_logs(mavlink_delay); do_erase_logs(mavlink_delay);
#endif
while (true) { while (true) {
if (count++ % 20 == 0) { if (count++ % 20 == 0) {
Serial.printf_P(PSTR("Please Run Setup...\n")); Serial.printf_P(PSTR("Please Run Setup...\n"));
@ -273,12 +277,11 @@ static void init_ardupilot()
if(g.compass_enabled) if(g.compass_enabled)
init_compass(); init_compass();
#ifdef OPTFLOW_ENABLED
// init the optical flow sensor // init the optical flow sensor
if(g.optflow_enabled) { if(g.optflow_enabled) {
init_optflow(); init_optflow();
} }
#endif
// agmatthews USERHOOKS // agmatthews USERHOOKS
#ifdef USERHOOK_INIT #ifdef USERHOOK_INIT
@ -370,7 +373,7 @@ static void init_ardupilot()
// init the Z damopener // init the Z damopener
// -------------------- // --------------------
#if ACCEL_ALT_HOLD == 1 #if ACCEL_ALT_HOLD != 0
init_z_damper(); init_z_damper();
#endif #endif
@ -439,6 +442,12 @@ static void set_mode(byte mode)
mode = STABILIZE; mode = STABILIZE;
} }
// nothing but Loiter for OptFlow only
if (g.optflow_enabled && GPS_enabled == false){
if (mode > ALT_HOLD && mode != LOITER)
mode = STABILIZE;
}
old_control_mode = control_mode; old_control_mode = control_mode;
control_mode = mode; control_mode = mode;
@ -592,18 +601,18 @@ init_compass()
compass.get_offsets(); // load offsets to account for airframe magnetic interference compass.get_offsets(); // load offsets to account for airframe magnetic interference
} }
#ifdef OPTFLOW_ENABLED
static void static void
init_optflow() init_optflow()
{ {
#ifdef OPTFLOW_ENABLED
if( optflow.init() == false ) { if( optflow.init() == false ) {
g.optflow_enabled = false; g.optflow_enabled = false;
//SendDebug("\nFailed to Init OptFlow "); //SendDebug("\nFailed to Init OptFlow ");
} }
optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft optflow.set_orientation(OPTFLOW_ORIENTATION); // set optical flow sensor's orientation on aircraft
optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view optflow.set_field_of_view(OPTFLOW_FOV); // set optical flow sensor's field of view
#endif
} }
#endif
static void static void
init_simple_bearing() init_simple_bearing()