aepko/Ardupilot2
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Hopefully this fixes the GPS init bug.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1830 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-03-30 04:24:20 +00:00
parent ea4700ad6e
commit e34969066f
2 changed files with 15 additions and 4 deletions
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3
ArduCopterMega/ArduCopterMega.pde
View File

@ -525,7 +525,7 @@ void medium_loop()
medium_loopCounter++; medium_loopCounter++;
if(Serial1.available() > 0){ if(GPS_disabled == false){
update_GPS(); update_GPS();
} }
@ -785,7 +785,6 @@ void update_GPS(void)
update_GPS_light(); update_GPS_light();
if (g_gps->new_data && g_gps->fix) { if (g_gps->new_data && g_gps->fix) {
GPS_disabled = false;
// XXX We should be sending GPS data off one of the regular loops so that we send // XXX We should be sending GPS data off one of the regular loops so that we send
// no-GPS-fix data too // no-GPS-fix data too

16
ArduCopterMega/system.pde
View File

@ -254,8 +254,20 @@ void startup_ground(void)
// ------------------- // -------------------
init_commands(); init_commands();
// clear out the GPS buffer byte counter = 4;
Serial1.flush(); GPS_disabled = true;
// Read in the GPS
for (byte counter = 0; ; counter++) {
g_gps->update();
if (g_gps->status() != 0){
break;
}
if (counter >= 4) {
GPS_disabled = true;
break;
}
}
gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY.")); gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
} }