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Code Issues Wiki Activity

GPS can now be conditionally compiled in.

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This commit is contained in:
Dominic Clifton 2014-06-28 20:20:16 +09:00
parent b3a718882c
commit 3b629d58a0
19 changed files with 144 additions and 29 deletions
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8
src/main/config/config.c
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@ -132,6 +132,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->H_level = 3.0f;
}
#ifdef GPS
void resetGpsProfile(gpsProfile_t *gpsProfile)
{
gpsProfile->gps_wp_radius = 200;
@ -142,6 +143,7 @@ void resetGpsProfile(gpsProfile_t *gpsProfile)
gpsProfile->nav_speed_max = 300;
gpsProfile->ap_mode = 40;
}
#endif
void resetBarometerConfig(barometerConfig_t *barometerConfig)
{
@ -257,9 +259,11 @@ static void resetConf(void)
masterConfig.motor_pwm_rate = 400;
masterConfig.servo_pwm_rate = 50;
#ifdef GPS
// gps/nav stuff
masterConfig.gpsConfig.provider = GPS_NMEA;
masterConfig.gpsConfig.sbasMode = SBAS_AUTO;
#endif
resetSerialConfig(&masterConfig.serialConfig);
@ -323,7 +327,9 @@ static void resetConf(void)
// gimbal
currentProfile.gimbalConfig.gimbal_flags = GIMBAL_NORMAL;
#ifdef GPS
resetGpsProfile(&currentProfile.gpsProfile);
#endif
// custom mixer. clear by defaults.
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++)
@ -376,8 +382,10 @@ void activateConfig(void)
useGyroConfig(&masterConfig.gyroConfig);
useTelemetryConfig(&masterConfig.telemetryConfig);
setPIDController(currentProfile.pidController);
#ifdef GPS
gpsUseProfile(&currentProfile.gpsProfile);
gpsUsePIDs(&currentProfile.pidProfile);
#endif
useFailsafeConfig(&currentProfile.failsafeConfig);
setAccelerationTrims(&masterConfig.accZero);
mixerUseConfigs(