kopia lustrzana https://github.com/YohanHadji/R2Home
Final check
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@ -1,10 +1,10 @@
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//---------- CONFIG ----------//
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//---------- CONFIG ----------//
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#define I_WANT_TO_FLY true // Simulated servo movement to test the servo movement :))
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#define I_WANT_TO_FLY false // Simulated servo movement to test the servo movement :))
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#define TEST_DIR_RC false // Use channels 0 on the radio to test the direction of the autopilot and the servos, I_WANT_TO_FLY should be set true too.
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#define TEST_DIR_RC false // Use channels 0 on the radio to test the direction of the autopilot and the servos, I_WANT_TO_FLY should be set true too.
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#define BUZZER_TURN false // Buzzer sounds as function of the turn command
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#define BUZZER_TURN false // Buzzer sounds as function of the turn command
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#define BUZZER_SWEEP false // Buzzer turn on steroïds, should be easier to understand his tricky language ^^
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#define BUZZER_SWEEP false // Buzzer turn on steroïds, should be easier to understand his tricky language ^^
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#define NO_INIT true // Skip init, for testing only purposes
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#define NO_INIT false // Skip init, for testing only purposes
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#define NAV_WAYPOINT false // Doing the waypoint sequence before reaching home?
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#define NAV_WAYPOINT false // Doing the waypoint sequence before reaching home?
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#define NAV_HOME true // Should it go home after the waypoint sequence?
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#define NAV_HOME true // Should it go home after the waypoint sequence?
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#define SD_WRITING true // Should it write on the SD card or not?
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#define SD_WRITING true // Should it write on the SD card or not?
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@ -17,7 +17,7 @@ unsigned long init_time = 0;
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void flight_init() {
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void flight_init() {
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if ((gps.satellites.value()>=6 and gps_ok and gps.hdop.value()<200) or NO_INIT) {
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if ((gps.satellites.value()>=6 and gps_ok and gps.hdop.value()<150 and millis()>5000) or NO_INIT) {
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EasyBuzzer.beep(3000,100,50,10,500,1);
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EasyBuzzer.beep(3000,100,50,10,500,1);
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@ -1,5 +1,5 @@
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// This code is V3.01
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// This code is V3.02
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// Updated on April 7th
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// Updated on April 8th
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#include <movingAvg.h>
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#include <movingAvg.h>
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#include "flight_state.hpp"
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#include "flight_state.hpp"
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