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APO GPS bug fix.

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This commit is contained in:
James Goppert 2011-10-09 15:57:29 -04:00
parent 5c16a380c0
commit d47e43e0c4
2 changed files with 4 additions and 2 deletions
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3
libraries/APO/APO_DefaultSetup.h
View File

@ -23,6 +23,7 @@ void setup() {
AP_Guide * guide = NULL;
AP_Controller * controller = NULL;
AP_HardwareAbstractionLayer * hal = NULL;
/*
* Communications
*/
@ -50,6 +51,7 @@ void setup() {
hal->debug->println_P(PSTR("initializing gps"));
AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps));
hal->gps = &gpsDriver;
hal->gps->callback = delay;
hal->gps->init();
}
@ -155,7 +157,6 @@ void setup() {
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
}
/*
* Start the autopilot
*/

3
libraries/APO/AP_Autopilot.cpp
View File

@ -45,6 +45,7 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
if (hal->gps->fix) {
break;
} else {
hal->gps->update();
hal->gcs->sendText(SEVERITY_LOW,
PSTR("waiting for gps lock\n"));
hal->debug->printf_P(PSTR("waiting for gps lock\n"));
@ -67,8 +68,8 @@ AP_Autopilot::AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
break;
}
hal->debug->println_P(PSTR("waiting for hil packet"));
delay(1000);
}
delay(1000);
}
AP_MavlinkCommand::home.setAlt(_navigator->getAlt());