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Working on memory problem.

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This commit is contained in:
James Goppert 2011-11-19 22:20:06 -05:00
parent 937a268513
commit 60b41311f0
3 changed files with 7 additions and 11 deletions
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12
apo/ControllerQuad.h
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@ -96,15 +96,11 @@ private:
float cmdDown = pidPD.update(_nav->getPD(),_nav->getVD(),dt); float cmdDown = pidPD.update(_nav->getPD(),_nav->getVD(),dt);
// "transform-to-body" // "transform-to-body"
{ _cmdPitch = cmdNorthTilt * cos(_nav->getYaw()) + cmdEastTilt * sin(_nav->getYaw());
float trigSin = sin(-_nav->getYaw()); _cmdRoll = -cmdNorthTilt * sin(_nav->getYaw()) + cmdEastTilt * cos(_nav->getYaw());
float trigCos = cos(-_nav->getYaw()); _cmdPitch *= -1; // note that the north tilt is negative of the pitch
_cmdPitch = cmdEastTilt * trigCos - cmdNorthTilt * trigSin;
_cmdRoll = -cmdEastTilt * trigSin + cmdNorthTilt * trigCos;
// note that the north tilt is negative of the pitch
}
_cmdYawRate = 0;
_cmdYawRate = 0;
_thrustMix = THRUST_HOVER_OFFSET + cmdDown; _thrustMix = THRUST_HOVER_OFFSET + cmdDown;
// "thrust-trim-adjust" // "thrust-trim-adjust"

2
cmake/modules/FindArduino.cmake
View File

@ -460,7 +460,7 @@ function(setup_arduino_upload BOARD_ID TARGET_NAME PORT)
-p${${BOARD_ID}.build.mcu} -p${${BOARD_ID}.build.mcu}
-c${${BOARD_ID}.upload.protocol} -c${${BOARD_ID}.upload.protocol}
-P${PORT} -b${${BOARD_ID}.upload.speed} -P${PORT} -b${${BOARD_ID}.upload.speed}
-D #-D
-Uflash:w:${CMAKE_BINARY_DIR}/${TARGET_NAME}.hex:i -Uflash:w:${CMAKE_BINARY_DIR}/${TARGET_NAME}.hex:i
DEPENDS ${TARGET_NAME}) DEPENDS ${TARGET_NAME})
if(NOT TARGET upload) if(NOT TARGET upload)

4
libraries/APO/AP_MavlinkCommand.cpp
View File

@ -62,8 +62,8 @@ AP_MavlinkCommand::AP_MavlinkCommand(const mavlink_waypoint_t & cmd) :
setZ(cmd.z); setZ(cmd.z);
save(); save();
// reload home if sent // reload home if sent, home must be a global waypoint
if (cmd.seq == 0) home.load(); if ( (cmd.seq == 0) && (cmd.frame == MAV_FRAME_GLOBAL)) home.load();
Serial.println("============================================================"); Serial.println("============================================================");
Serial.println("storing new command from mavlink_waypoint_t"); Serial.println("storing new command from mavlink_waypoint_t");