aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Yellow LED on when GPS position hold mode

Browse Source 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@815 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jjulio1234 2010-11-09 22:03:09 +00:00
parent 0ce4e75c79
commit 05ea4dce7d
2 changed files with 20 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
ArducopterNG/ArducopterNG.pde
View File

@ -250,7 +250,7 @@ void loop()
currentTime = millis();
// Main loop at 200Hz (IMU + control)
if ((currentTime-mainLoop) > 5) // 200Hz (every 5ms)
if ((currentTime-mainLoop) > 5) // about 200Hz (every 5ms)
{
G_Dt = (currentTime-mainLoop)*0.001; // Microseconds!!!
mainLoop = currentTime;
@ -271,8 +271,8 @@ void loop()
gled_speed = 1200;
if (AP_mode == AP_NORMAL_MODE) // Normal mode
Attitude_control_v3(command_rx_roll,command_rx_pitch,command_rx_yaw);
else // Automatic mode : GPS position hold mode
Attitude_control_v3(command_rx_roll+command_gps_roll,command_rx_pitch+command_gps_pitch,command_rx_yaw);
else // Automatic mode : GPS position hold mode
Attitude_control_v3(command_rx_roll+command_gps_roll,command_rx_pitch+command_gps_pitch,command_rx_yaw);
}
else { // ACRO Mode
gled_speed = 400;
@ -292,13 +292,22 @@ void loop()
// Autopilot mode functions
if (AP_mode == AP_AUTOMATIC_MODE)
{
if (target_position)
digitalWrite(LED_Yellow,HIGH); // Yellow LED ON : GPS Position Hold MODE
if (target_position)
{
#ifdef IsGPS
if (GPS.NewData) // New GPS info?
{
read_GPS_data();
Position_control(target_lattitude,target_longitude); // Call GPS position hold routine
if (GPS.Fix)
{
read_GPS_data(); // In Navigation.pde
Position_control(target_lattitude,target_longitude); // Call GPS position hold routine
}
else
{
command_gps_roll=0;
command_gps_pitch=0;
}
}
#endif
}
@ -320,7 +329,10 @@ void loop()
}
}
else
{
digitalWrite(LED_Yellow,LOW);
target_position=0;
}
}
// Medium loop (about 60Hz)

4
ArducopterNG/Radio.pde
View File

@ -56,7 +56,7 @@ void read_radio()
// Autopilot mode (only works on Stable mode)
if (flightMode == STABLE_MODE)
{
if(ch_aux > 1800)
if(ch_aux < 1200)
AP_mode = AP_AUTOMATIC_MODE; // Automatic mode : GPS position hold mode + altitude hold
else
AP_mode = AP_NORMAL_MODE; // Normal mode
@ -123,4 +123,4 @@ void read_radio()
}
}