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bug fixed in reset_waypoints

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This commit is contained in:
Pascal Brisset
2006-10-16 05:52:13 +00:00
parent b5adfccb08
commit a89188337d
1 changed files with 10 additions and 4 deletions
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sw/airborne/nav.c
+10 -4
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@@ -315,17 +315,20 @@ extern float nav_altitude;
#define CLIMB_MODE_GAZ_AGRESSIVE 1
#define CLIMB_MODE_GAZ_BLENDED 2
uint8_t climb_mode = CLIMB_MODE_GAZ;
uint8_t climb_gaz_submode = CLIMB_MODE_GAZ_STANDARD;
uint8_t climb_mode;
uint8_t climb_gaz_submode;
#include "flight_plan.h"
float ground_alt = GROUND_ALT;
float ground_alt;
static float previous_ground_alt;
static unit_t reset_nav_reference( void ) {
nav_utm_east0 = gps_utm_east/100;
nav_utm_north0 = gps_utm_north/100;
nav_utm_zone0 = gps_utm_zone;
previous_ground_alt = ground_alt;
ground_alt = gps_alt/100;
return 0;
}
@@ -333,7 +336,7 @@ static unit_t reset_nav_reference( void ) {
static unit_t reset_waypoints( void ) {
uint8_t i;
for(i = 0; i <= NB_WAYPOINT; i++) {
waypoints[i].a = waypoints[i].a + ground_alt - GROUND_ALT;
waypoints[i].a += ground_alt - previous_ground_alt;
moved_waypoints[i] = TRUE;
}
return 0;
@@ -492,6 +495,9 @@ void nav_update(void) {
void nav_init(void) {
nav_block = 0;
nav_stage = 0;
ground_alt = GROUND_ALT;
climb_mode = CLIMB_MODE_GAZ;
climb_gaz_submode = CLIMB_MODE_GAZ_STANDARD;
}
/** void nav_wihtout_gps(void)