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AntennaTracker: update_GPS now sets HOME position and compass.set_initial_location on first good GPS fix

This commit is contained in:
Mike McCauley 2014-03-27 11:04:42 +10:00 committed by Andrew Tridgell
parent 7116fdecde
commit ffcac91120
1 changed files with 34 additions and 2 deletions
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36
Tools/AntennaTracker/sensors.pde
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@ -61,7 +61,39 @@ static void barometer_accumulate(void)
static void update_GPS(void)
{
g_gps->update();
// REVISIT: add compass variation with compass.set_initial_location(g_gps->latitude, g_gps->longitude);
// when have a solid GPS fix. Also init_home();
static uint8_t ground_start_count = 5;
if (g_gps->new_data && g_gps->status() >= GPS::GPS_OK_FIX_3D) {
g_gps->new_data = false;
if(ground_start_count > 1) {
ground_start_count--;
} else if (ground_start_count == 1) {
// We countdown N number of good GPS fixes
// so that the altitude is more accurate
// -------------------------------------
if (current_loc.lat == 0) {
ground_start_count = 5;
} else {
// Now have an initial GPS position
// use it as the HOME position in future startups
current_loc.lat = g_gps->latitude;
current_loc.lng = g_gps->longitude;
current_loc.alt = g_gps->altitude_cm;
current_loc.options = 0; // Absolute altitude
set_home(current_loc);
// set system clock for log timestamps
hal.util->set_system_clock(g_gps->time_epoch_usec());
if (g.compass_enabled) {
// Set compass declination automatically
compass.set_initial_location(g_gps->latitude, g_gps->longitude);
}
ground_start_count = 0;
}
}
}
}