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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/mw.c
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@ -278,9 +278,11 @@ void annexCode(void)
handleSerial();
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsIndicator(currentTime);
}
#endif
// Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities.
if (gyro.temperature)
@ -409,6 +411,7 @@ void executePeriodicTasks(void)
break;
#endif
#ifdef GPS
case UPDATE_GPS_TASK:
// if GPS feature is enabled, gpsThread() will be called at some intervals to check for stuck
// hardware, wrong baud rates, init GPS if needed, etc. Don't use SENSOR_GPS here as gpsThread() can and will
@ -417,6 +420,7 @@ void executePeriodicTasks(void)
gpsThread();
}
break;
#endif
#ifdef SONAR
case UPDATE_SONAR_TASK:
if (sensors(SENSOR_SONAR)) {
@ -539,9 +543,11 @@ void processRx(void)
}
#endif
#ifdef GPS
if (sensors(SENSOR_GPS)) {
updateGpsWaypointsAndMode();
}
#endif
if (rcOptions[BOXPASSTHRU]) {
f.PASSTHRU_MODE = 1;
@ -615,11 +621,13 @@ void loop(void)
rcCommand[THROTTLE] += calculateThrottleAngleCorrection(currentProfile.throttle_correction_value);
}
#ifdef GPS
if (sensors(SENSOR_GPS)) {
if ((f.GPS_HOME_MODE || f.GPS_HOLD_MODE) && f.GPS_FIX_HOME) {
updateGpsStateForHomeAndHoldMode();
}
}
#endif
// PID - note this is function pointer set by setPIDController()
pid_controller(