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Copter: integrate GPS_Glitch's check_position

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Randy Mackay 2013-09-19 15:56:36 +09:00
parent 81dd4f8b0c
commit 2f5b32bada
1 changed files with 6 additions and 1 deletions
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7
ArduCopter/ArduCopter.pde
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@ -85,6 +85,7 @@
// Application dependencies // Application dependencies
#include <GCS_MAVLink.h> // MAVLink GCS definitions #include <GCS_MAVLink.h> // MAVLink GCS definitions
#include <AP_GPS.h> // ArduPilot GPS library #include <AP_GPS.h> // ArduPilot GPS library
#include <AP_GPS_Glitch.h> // GPS glitch protection library
#include <DataFlash.h> // ArduPilot Mega Flash Memory Library #include <DataFlash.h> // ArduPilot Mega Flash Memory Library
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library #include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_ADC_AnalogSource.h> #include <AP_ADC_AnalogSource.h>
@ -206,6 +207,7 @@ static const AP_InertialSensor::Sample_rate ins_sample_rate = AP_InertialSensor:
// All GPS access should be through this pointer. // All GPS access should be through this pointer.
static GPS *g_gps; static GPS *g_gps;
static GPS_Glitch gps_glitch(g_gps);
// flight modes convenience array // flight modes convenience array
static AP_Int8 *flight_modes = &g.flight_mode1; static AP_Int8 *flight_modes = &g.flight_mode1;
@ -765,7 +767,7 @@ static float G_Dt = 0.02;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Inertial Navigation // Inertial Navigation
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
static AP_InertialNav inertial_nav(&ahrs, &ins, &barometer, &g_gps); static AP_InertialNav inertial_nav(&ahrs, &ins, &barometer, g_gps, gps_glitch);
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
// Waypoint navigation object // Waypoint navigation object
@ -1386,6 +1388,9 @@ static void update_GPS(void)
// for performance monitoring // for performance monitoring
gps_fix_count++; gps_fix_count++;
// run glitch protection
gps_glitch.check_position();
// check if we can initialise home yet // check if we can initialise home yet
if (!ap.home_is_set) { if (!ap.home_is_set) {
// if we have a 3d lock and valid location // if we have a 3d lock and valid location