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Added a GPS watchdog to stop navigating if we loose signal.

This commit is contained in:
Jason Short 2011-09-17 12:23:16 -07:00
parent b10493e205
commit e81a666478
1 changed files with 9 additions and 0 deletions
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9
ArduCopter/ArduCopter.pde
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@ -481,6 +481,7 @@ static long perf_mon_timer;
//static float imu_health; // Metric based on accel gain deweighting
static int G_Dt_max; // Max main loop cycle time in milliseconds
static int gps_fix_count;
static byte gps_watchdog;
// System Timers
// --------------
@ -936,8 +937,16 @@ static void update_GPS(void)
//current_loc.lat = -1224318000; // Lat * 10 * *7
//current_loc.alt = 100; // alt * 10 * *7
//return;
if(gps_watchdog < 10){
gps_watchdog++;
}else{
// we have lost GPS signal for a moment. Reduce our error to avoid flyaways
nav_roll >>= 1;
nav_pitch >>= 1;
}
if (g_gps->new_data && g_gps->fix) {
gps_watchdog = 0;
// XXX We should be sending GPS data off one of the regular loops so that we send
// no-GPS-fix data too