Colin Stearns / Mbed 2 deprecated qcControl

QC Control software

Dependencies:   mbed

Fork of dgps by Colin Stearns

Files at this revision

API Documentation at this revision

Revision 64:d4818fb7813c, committed 2014-04-27

Comitter:
dylanembed123
Date:
Sun Apr 27 21:53:59 2014 +0000
Parent:
63:6e4afaa03d07
Child:
65:8e491bde6629
Commit message:
Fix GPS stuff

Changed in this revision

handle/handleGPS.cpp Show annotated file Show diff for this revision Revisions of this file
handle/mavcommands.cpp Show annotated file Show diff for this revision Revisions of this file
handle/mavcommands.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file 
--- a/handle/handleGPS.cpp	Sun Apr 27 14:08:51 2014 +0000
+++ b/handle/handleGPS.cpp	Sun Apr 27 21:53:59 2014 +0000
@@ -60,8 +60,8 @@
 }
 
 bool GPSHandle::if_image_location(){
-    double lon_thresh = 0.00005;
-    double lat_thresh = 0.000035;
+    double lon_thresh = 0.0005;
+    double lat_thresh = 0.00035;
     //USB::getSerial().printf("Checking if at waypoint\r\n");
     DataLocation current_loc = DH::Locs().getC(LHType_locs,DH::Locs().getI(LHType_locs));
     DataLocation next_waypoint = DH::Locs().getC(LHType_targ,DH::Locs().getI(LHType_targ));

--- a/handle/mavcommands.cpp	Sun Apr 27 14:08:51 2014 +0000
+++ b/handle/mavcommands.cpp	Sun Apr 27 21:53:59 2014 +0000
@@ -27,6 +27,9 @@
     double nLat=DH::Locs().getC(LHType_targ,DH::Locs().getI(LHType_targ)).getLat();
     double nLon=DH::Locs().getC(LHType_targ,DH::Locs().getI(LHType_targ)).getLon();
     double nAlt=DH::Locs().getC(LHType_targ,DH::Locs().getI(LHType_targ)).getAlt();
+    USB::getSerial().printf("HM Lat %f\n",nLat);
+    USB::getSerial().printf("HM Lon %f\n",nLon);
+    USB::getSerial().printf("HM Alt %f\n",nAlt);
     if(moveValid&&cLat==nLat&&cLon==nLon&&cAlt==nAlt)return false;
     moveValid=false;
     cLat=nLat;
@@ -124,6 +127,7 @@
         }
         // Check for mission accepted
         if(myCmd[5]==MAVLINK_MSG_ID_MISSION_ACK){
+            USB::getSerial().printf("Ack\n");
             moveValid=true;
             if(startSetup&&ENABLE_MOTORS){
                 startSetup=false;

--- a/handle/mavcommands.h	Sun Apr 27 14:08:51 2014 +0000
+++ b/handle/mavcommands.h	Sun Apr 27 21:53:59 2014 +0000
@@ -106,7 +106,7 @@
         setup();
         readState=0;
         while(Mav::getSerial().readable()>0){char input=Mav::getSerial().getc();}
-        if(hasMoved()){
+        if(cLon!=0&&cLat!=0&&hasMoved()){
             USB::getSerial().printf("USING NEW WAYPOINT!!!\n");
             // Issue count to init waypoint entry
             Mav::sendOutput(MAVLINK_MSG_ID_COUNT,(char*)&issueCount,sizeof(MAV_COUNT));

--- a/main.cpp	Sun Apr 27 14:08:51 2014 +0000
+++ b/main.cpp	Sun Apr 27 21:53:59 2014 +0000
@@ -113,14 +113,14 @@
 {
     
     // Start Mav test
-    DH::Locs().add(LHType_targ,DataLocation(27.175015,78.042155,5.0));
+    //DH::Locs().add(LHType_targ,DataLocation(27.175015,78.042155,5.0));
     USB::getSerial().printf("Wait %d seconds\n",DELAYBOOT);
     wait(DELAYBOOT);    
-    while(true){
-        USB::getSerial().printf(".\n",DELAYBOOT);
-        MavCmd::get().run();
-        wait(5);
-    }
+    //while(true){
+    //    USB::getSerial().printf(".\n",DELAYBOOT);
+    //    MavCmd::get().run();
+    //    wait(5);
+    //}
 
     USB::getSerial().printf("Starting %d\n",sizeof(PacketStruct));
     USB::getSerial().printf("Check GPS\n");