ardupilot/AntennaTracker/control_auto.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Tracker.h"
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/*
* control_auto.pde - auto control mode
*/
/*
* update_auto - runs the auto controller
* called at 50hz while control_mode is 'AUTO'
*/
void Tracker::update_auto(void)
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{
// exit immediately if we do not have a valid vehicle position
if (!vehicle.location_valid) {
return;
}
float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f;
float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90);
// only move servos if target is at least distance_min away
if ((g.distance_min <= 0) || (nav_status.distance >= g.distance_min)) {
update_pitch_servo(pitch);
update_yaw_servo(yaw);
}
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}