Rev 903 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
| Rev 903 | Rev 909 | ||
|---|---|---|---|
| Line 66... | Line 66... | ||
| 66 | #include "timer2.h" |
66 | #include "timer2.h" |
| 67 | #ifdef USE_KILLAGREG |
67 | #ifdef USE_KILLAGREG |
| 68 | #include "mm3.h" |
68 | #include "mm3.h" |
| 69 | #include "gps.h" |
69 | #include "gps.h" |
| 70 | #endif |
70 | #endif |
| 71 | #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
71 | #ifdef USE_MK3MAG |
| 72 | #include "mk3mag.h" |
72 | #include "mk3mag.h" |
| - | 73 | #include "gps.h" |
|
| 73 | #endif |
74 | #endif |
| 74 | #include "led.h" |
75 | #include "led.h" |
| Line 75... | Line 76... | ||
| 75 | 76 | ||
| 76 | volatile uint16_t I2CTimeout = 100; |
77 | volatile uint16_t I2CTimeout = 100; |
| Line 702... | Line 703... | ||
| 702 | Reading_IntegralGyroRoll = 0; |
703 | Reading_IntegralGyroRoll = 0; |
| 703 | Reading_IntegralGyroPitch2 = IntegralPitch; |
704 | Reading_IntegralGyroPitch2 = IntegralPitch; |
| 704 | Reading_IntegralGyroRoll2 = IntegralRoll; |
705 | Reading_IntegralGyroRoll2 = IntegralRoll; |
| 705 | SumPitch = 0; |
706 | SumPitch = 0; |
| 706 | SumRoll = 0; |
707 | SumRoll = 0; |
| 707 | #ifdef USE_KILLAGREG |
708 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| 708 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
709 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| 709 | { |
710 | { |
| 710 | GPS_SetHomePosition(); |
711 | GPS_SetHomePosition(); |
| 711 | } |
712 | } |
| 712 | #endif |
713 | #endif |
| Line 721... | Line 722... | ||
| 721 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
722 | if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| 722 | { |
723 | { |
| 723 | delay_stopmotors = 0; // do not repeat if once executed |
724 | delay_stopmotors = 0; // do not repeat if once executed |
| 724 | Model_Is_Flying = 0; |
725 | Model_Is_Flying = 0; |
| 725 | MotorsOn = 0; |
726 | MotorsOn = 0; |
| 726 | #ifdef USE_KILLAGREG |
727 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| 727 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
728 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| 728 | { |
729 | { |
| 729 | GPS_ClearHomePosition(); |
730 | GPS_ClearHomePosition(); |
| 730 | } |
731 | } |
| 731 | #endif |
732 | #endif |
| Line 1210... | Line 1211... | ||
| 1210 | BadCompassHeading = 250; |
1211 | BadCompassHeading = 250; |
| 1211 | } |
1212 | } |
| 1212 | } |
1213 | } |
| 1213 | } |
1214 | } |
| Line 1214... | Line 1215... | ||
| 1214 | 1215 | ||
| 1215 | #ifdef USE_KILLAGREG |
1216 | #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| 1216 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1217 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1217 | // GPS |
1218 | // GPS |
| 1218 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1219 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 1219 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
1220 | if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |