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added gps for altitude estimation, remove most unused code, rename altitude.c to position.c, add hdop to nmea

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This commit is contained in:
Diego Basch 2018-04-24 11:11:35 -07:00
parent 75f82c7f2b
commit c46be03047
26 changed files with 154 additions and 550 deletions
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14
src/main/fc/fc_core.c
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@ -83,7 +83,7 @@
#include "telemetry/telemetry.h"
#include "flight/altitude.h"
#include "flight/position.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
#include "flight/mixer.h"
@ -866,17 +866,7 @@ static NOINLINE void subTaskMainSubprocesses(timeUs_t currentTimeUs)
updateMagHold();
}
#endif
#if defined(USE_ALT_HOLD)
// updateRcCommands sets rcCommand, which is needed by updateAltHoldState and updateSonarAltHoldState
updateRcCommands();
if (sensors(SENSOR_BARO) || sensors(SENSOR_RANGEFINDER)) {
if (FLIGHT_MODE(BARO_MODE) || FLIGHT_MODE(RANGEFINDER_MODE)) {
applyAltHold();
}
}
#endif
// If we're armed, at minimum throttle, and we do arming via the
// sticks, do not process yaw input from the rx. We do this so the
// motors do not spin up while we are trying to arm or disarm.