minor change to GPS

git-svn-id: https://arducopter.googlecode.com/svn/trunk@1834 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -235,6 +235,7 @@ boolean rate_yaw_flag;						// used to transition yaw control from Rate control
 // ----------
 boolean motor_light;						// status of the Motor safety
 boolean GPS_light;							// status of the GPS light
+boolean timer_light;						// status of the Motor safety
 
 // GPS variables
 // -------------
@@ -427,7 +428,7 @@ unsigned long 	elapsedTime;				// for doing custom events
 float 			load;						// % MCU cycles used
 
 byte			counter_one_herz;
-bool			GPS_disabled 		= true;
+bool			GPS_enabled 	= false;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Top-level logic
@@ -448,9 +449,14 @@ void loop()
 		G_Dt 				= (float)delta_ms_fast_loop / 1000.f;		// used by DCM integrator
 		mainLoop_count++;
 
-		//if(delta_ms_fast_loop > 11){
-		//	Serial.println(delta_ms_fast_loop,DEC);
-		//}
+		/*
+		if(delta_ms_fast_loop > 11){
+			update_timer_light(true);
+			//Serial.println(delta_ms_fast_loop,DEC);
+		}else{
+			update_timer_light(false);
+		}*/
+
 		// Execute the fast loop
 		// ---------------------
 		fast_loop();
@@ -525,7 +531,7 @@ void medium_loop()
 			medium_loopCounter++;
 
 
-			if(GPS_disabled == false){
+			if(GPS_enabled){
 				update_GPS();
 			}
 
@@ -972,7 +978,7 @@ void update_current_flight_mode(void)
 				if(flight_timer > 10){
 					flight_timer = 0;
 
-					if(GPS_disabled){
+					if(GPS_enabled == false){
 						current_loc.lat = home.lat = 0;
 						current_loc.lng = home.lng = 0;
 					}

ArduCopterMega/setup.pde

@@ -69,6 +69,7 @@ setup_show(uint8_t argc, const Menu::arg *argv)
 	// clear the area
 	print_blanks(8);
 
+	report_version();
 	report_radio();
 	report_frame();
 	report_current();
@@ -807,6 +808,14 @@ void report_current()
 	print_blanks(2);
 }
 
+void report_gps()
+{
+	Serial.printf_P(PSTR("\nGPS\n"));
+	print_divider();
+	print_enabled(GPS_enabled);
+	print_blanks(2);
+}
+
 void report_sonar()
 {
 	g.sonar_enabled.load();
@@ -816,6 +825,13 @@ void report_sonar()
 	print_blanks(2);
 }
 
+void report_version()
+{
+	Serial.printf_P(PSTR("FW Version %d\n"),(int)g.format_version.get());
+	print_divider();
+	print_blanks(2);
+}
+
 
 void report_frame()
 {

ArduCopterMega/system.pde

@@ -85,11 +85,15 @@ void init_ardupilot()
 						 "\n\nFree RAM: %lu\n"),
 						 freeRAM());
 
+
 	//
 	// Check the EEPROM format version before loading any parameters from EEPROM.
 	//
+	report_version();
+
 	if (!g.format_version.load() ||
 	     g.format_version != Parameters::k_format_version) {
+		Serial.printf_P(PSTR("\n\nForcing complete parameter reset..."));
 
 		/*Serial.printf_P(PSTR("\n\nEEPROM format version  %d not compatible with this firmware (requires %d)"
 		                     "\n\nForcing complete parameter reset..."),
@@ -255,20 +259,22 @@ void startup_ground(void)
 	init_commands();
 
     byte counter = 4;
-    GPS_disabled = true;
+    GPS_enabled = false;
 
     // Read in the GPS
 	for (byte counter = 0; ; counter++) {
 		g_gps->update();
 		if (g_gps->status() != 0){
+			GPS_enabled = true;
 			break;
 		}
 		if (counter >= 4) {
-			GPS_disabled = true;
+			GPS_enabled = false;
 			break;
 	    }
 	}
-
+	report_gps();
+	SendDebug("\nReady to FLY ");
 	gcs.send_text_P(SEVERITY_LOW,PSTR("\n\n Ready to FLY."));
 }
 
@@ -410,6 +416,15 @@ void update_motor_light(void)
 	}
 }
 
+void update_timer_light(bool light)
+{
+	if(light == true){
+		digitalWrite(B_LED_PIN, HIGH);
+	}else{
+		digitalWrite(B_LED_PIN, LOW);
+	}
+}
+
 
 void resetPerfData(void) {
 	/*