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

call gcs_update() while waiting for GPS lock

Browse Source 
this ensures we react to ground commands, and also allows HIL GPS to
work
This commit is contained in:
Andrew Tridgell 2011-11-09 17:43:55 +11:00
parent a0fd4f710f
commit c158cb8e63
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/commands.pde
View File

@ -188,10 +188,15 @@ static void set_next_WP(struct Location *wp)
// -------------------------------
static void init_home()
{
home_is_set = true;
// block until we get a good fix
// -----------------------------
while (!g_gps->new_data || !g_gps->fix) {
g_gps->update();
// we need GCS update while waiting for GPS, to ensure
// we react to HIL mavlink
gcs_update();
}
home.id = MAV_CMD_NAV_WAYPOINT;
@ -199,7 +204,6 @@ static void init_home()
home.lat = g_gps->latitude; // Lat * 10**7
//home.alt = max(g_gps->altitude, 0); // we sometimes get negatives from GPS, not valid
home.alt = 0; // Home is always 0
home_is_set = true;
// to point yaw towards home until we set it with Mavlink
target_WP = home;