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

APO GPS bug fix.

Browse Source
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/APO/APO_DefaultSetup.h
View File

@ -23,6 +23,7 @@ void setup() {
AP_Guide * guide = NULL; AP_Guide * guide = NULL;
AP_Controller * controller = NULL; AP_Controller * controller = NULL;
AP_HardwareAbstractionLayer * hal = NULL; AP_HardwareAbstractionLayer * hal = NULL;
/* /*
* Communications * Communications
*/ */
@ -50,6 +51,7 @@ void setup() {
hal->debug->println_P(PSTR("initializing gps")); hal->debug->println_P(PSTR("initializing gps"));
AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps)); AP_GPS_Auto gpsDriver(&Serial1, &(hal->gps));
hal->gps = &gpsDriver; hal->gps = &gpsDriver;
hal->gps->callback = delay;
hal->gps->init(); hal->gps->init();
} }
@ -155,7 +157,6 @@ void setup() {
hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal); hal->hil = new COMMLINK_CLASS(&Serial1, navigator, guide, controller, hal);
} }
/* /*
* Start the autopilot * 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) { if (hal->gps->fix) {
break; break;
} else { } else {
hal->gps->update();
hal->gcs->sendText(SEVERITY_LOW, hal->gcs->sendText(SEVERITY_LOW,
PSTR("waiting for gps lock\n")); PSTR("waiting for gps lock\n"));
hal->debug->printf_P(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; break;
} }
hal->debug->println_P(PSTR("waiting for hil packet")); hal->debug->println_P(PSTR("waiting for hil packet"));
delay(1000);
} }
delay(1000);
} }
AP_MavlinkCommand::home.setAlt(_navigator->getAlt()); AP_MavlinkCommand::home.setAlt(_navigator->getAlt());