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ArduCopter: fix Failed to Init Optflow message at startup

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This commit is contained in:
rmackay9 2012-12-11 00:09:45 +09:00
parent 2f748f8382
commit af77425636
2 changed files with 3 additions and 3 deletions
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4
ArduCopter/Attitude.pde
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@ -589,7 +589,7 @@ get_rate_yaw(int32_t target_rate)
static int32_t static int32_t
get_of_roll(int32_t input_roll) get_of_roll(int32_t input_roll)
{ {
#ifdef OPTFLOW_ENABLED #if OPTFLOW == ENABLED
static float tot_x_cm = 0; // total distance from target static float tot_x_cm = 0; // total distance from target
static uint32_t last_of_roll_update = 0; static uint32_t last_of_roll_update = 0;
int32_t new_roll = 0; int32_t new_roll = 0;
@ -643,7 +643,7 @@ get_of_roll(int32_t input_roll)
static int32_t static int32_t
get_of_pitch(int32_t input_pitch) get_of_pitch(int32_t input_pitch)
{ {
#ifdef OPTFLOW_ENABLED #if OPTFLOW == ENABLED
static float tot_y_cm = 0; // total distance from target static float tot_y_cm = 0; // total distance from target
static uint32_t last_of_pitch_update = 0; static uint32_t last_of_pitch_update = 0;
int32_t new_pitch = 0; int32_t new_pitch = 0;

2
ArduCopter/Parameters.pde
View File

@ -122,7 +122,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow // @Description: Setting this to Enabled(1) will enable optical flow. Setting this to Disabled(0) will disable optical flow
// @Values: 0:Disabled,1:Enabled // @Values: 0:Disabled,1:Enabled
// @User: Standard // @User: Standard
GSCALAR(optflow_enabled, "FLOW_ENABLE", OPTFLOW), GSCALAR(optflow_enabled, "FLOW_ENABLE", DISABLED),
// @Param: LOW_VOLT // @Param: LOW_VOLT
// @DisplayName: Low Voltage // @DisplayName: Low Voltage