2011-09-08 22:29:39 -03:00
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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//****************************************************************
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// Function that will calculate the desired direction to fly and distance
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//****************************************************************
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static void navigate()
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{
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// do not navigate with corrupt data
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// ---------------------------------
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if (g_gps->fix == 0)
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{
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g_gps->new_data = false;
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return;
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}
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if(next_WP.lat == 0){
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return;
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}
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// waypoint distance from plane
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// ----------------------------
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wp_distance = get_distance(¤t_loc, &next_WP);
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if (wp_distance < 0){
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2011-09-18 01:00:49 -03:00
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gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
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2011-09-08 22:29:39 -03:00
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//Serial.println(wp_distance,DEC);
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return;
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}
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// target_bearing is where we should be heading
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// --------------------------------------------
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target_bearing = get_bearing(¤t_loc, &next_WP);
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// nav_bearing will includes xtrac correction
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// ------------------------------------------
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nav_bearing = target_bearing;
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// check if we have missed the WP
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loiter_delta = (target_bearing - old_target_bearing)/100;
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// reset the old value
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old_target_bearing = target_bearing;
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// wrap values
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if (loiter_delta > 180) loiter_delta -= 360;
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if (loiter_delta < -180) loiter_delta += 360;
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loiter_sum += abs(loiter_delta);
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// control mode specific updates to nav_bearing
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// --------------------------------------------
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update_navigation();
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}
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#if 0
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// Disabled for now
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void calc_distance_error()
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{
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distance_estimate += (float)g_gps->ground_speed * .0002 * cos(radians(bearing_error * .01));
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distance_estimate -= DST_EST_GAIN * (float)(distance_estimate - GPS_wp_distance);
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wp_distance = max(distance_estimate,10);
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}
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#endif
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static void calc_airspeed_errors()
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{
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2012-07-15 22:21:50 -03:00
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float aspeed_cm = airspeed.get_airspeed_cm();
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2011-12-09 19:40:56 -04:00
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// Normal airspeed target
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target_airspeed = g.airspeed_cruise;
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// FBW_B airspeed target
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if (control_mode == FLY_BY_WIRE_B) {
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target_airspeed = ((int)(g.flybywire_airspeed_max -
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g.flybywire_airspeed_min) *
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g.channel_throttle.servo_out) +
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((int)g.flybywire_airspeed_min * 100);
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}
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// Set target to current airspeed + ground speed undershoot,
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// but only when this is faster than the target airspeed commanded
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// above.
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if (control_mode >= FLY_BY_WIRE_B && (g.min_gndspeed > 0)) {
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2012-07-15 22:21:50 -03:00
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long min_gnd_target_airspeed = aspeed_cm + groundspeed_undershoot;
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2011-12-09 19:40:56 -04:00
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if (min_gnd_target_airspeed > target_airspeed)
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target_airspeed = min_gnd_target_airspeed;
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}
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// Bump up the target airspeed based on throttle nudging
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if (control_mode >= AUTO && airspeed_nudge > 0) {
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target_airspeed += airspeed_nudge;
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}
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// Apply airspeed limit
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if (target_airspeed > (g.flybywire_airspeed_max * 100))
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target_airspeed = (g.flybywire_airspeed_max * 100);
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2012-07-15 22:21:50 -03:00
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airspeed_error = target_airspeed - aspeed_cm;
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airspeed_energy_error = ((target_airspeed * target_airspeed) - (aspeed_cm*aspeed_cm))*0.00005;
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2011-12-09 19:40:56 -04:00
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}
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static void calc_gndspeed_undershoot()
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{
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// Function is overkill, but here in case we want to add filtering later
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groundspeed_undershoot = (g.min_gndspeed > 0) ? (g.min_gndspeed - g_gps->ground_speed) : 0;
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2011-09-08 22:29:39 -03:00
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}
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static void calc_bearing_error()
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{
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if(takeoff_complete == true || g.compass_enabled == true) {
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2011-12-22 17:28:56 -04:00
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/*
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most of the time we use the yaw sensor for heading, even if
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we don't have a compass. The yaw sensor is drift corrected
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in the DCM library. We only use the gps ground course
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directly if we haven't completed takeoff, as the yaw drift
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correction won't have had a chance to kick in. Drift
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correction using the GPS typically takes 10 seconds or so
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for a 180 degree correction.
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*/
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2012-03-11 05:13:31 -03:00
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bearing_error = nav_bearing - ahrs.yaw_sensor;
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2011-09-08 22:29:39 -03:00
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} else {
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// TODO: we need to use the Yaw gyro for in between GPS reads,
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// maybe as an offset from a saved gryo value.
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bearing_error = nav_bearing - g_gps->ground_course;
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}
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bearing_error = wrap_180(bearing_error);
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}
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static void calc_altitude_error()
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{
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if(control_mode == AUTO && offset_altitude != 0) {
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// limit climb rates
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target_altitude = next_WP.alt - ((float)((wp_distance -30) * offset_altitude) / (float)(wp_totalDistance - 30));
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// stay within a certain range
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if(prev_WP.alt > next_WP.alt){
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target_altitude = constrain(target_altitude, next_WP.alt, prev_WP.alt);
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}else{
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target_altitude = constrain(target_altitude, prev_WP.alt, next_WP.alt);
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}
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2011-10-25 22:27:23 -03:00
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} else if (non_nav_command_ID != MAV_CMD_CONDITION_CHANGE_ALT) {
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2011-09-08 22:29:39 -03:00
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target_altitude = next_WP.alt;
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}
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altitude_error = target_altitude - current_loc.alt;
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}
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static long wrap_360(long error)
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{
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if (error > 36000) error -= 36000;
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if (error < 0) error += 36000;
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return error;
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}
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static long wrap_180(long error)
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{
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if (error > 18000) error -= 36000;
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if (error < -18000) error += 36000;
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return error;
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}
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static void update_loiter()
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{
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float power;
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if(wp_distance <= g.loiter_radius){
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power = float(wp_distance) / float(g.loiter_radius);
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power = constrain(power, 0.5, 1);
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nav_bearing += (int)(9000.0 * (2.0 + power));
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}else if(wp_distance < (g.loiter_radius + LOITER_RANGE)){
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power = -((float)(wp_distance - g.loiter_radius - LOITER_RANGE) / LOITER_RANGE);
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power = constrain(power, 0.5, 1); //power = constrain(power, 0, 1);
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nav_bearing -= power * 9000;
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}else{
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update_crosstrack();
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loiter_time = millis(); // keep start time for loiter updating till we get within LOITER_RANGE of orbit
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2011-12-09 19:40:56 -04:00
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2011-09-08 22:29:39 -03:00
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}
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/*
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if (wp_distance < g.loiter_radius){
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nav_bearing += 9000;
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}else{
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nav_bearing -= 100 * M_PI / 180 * asin(g.loiter_radius / wp_distance);
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}
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update_crosstrack();
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*/
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nav_bearing = wrap_360(nav_bearing);
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}
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static void update_crosstrack(void)
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{
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// Crosstrack Error
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// ----------------
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if (abs(wrap_180(target_bearing - crosstrack_bearing)) < 4500) { // If we are too far off or too close we don't do track following
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crosstrack_error = sin(radians((target_bearing - crosstrack_bearing) / (float)100)) * (float)wp_distance; // Meters we are off track line
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nav_bearing += constrain(crosstrack_error * g.crosstrack_gain, -g.crosstrack_entry_angle.get(), g.crosstrack_entry_angle.get());
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nav_bearing = wrap_360(nav_bearing);
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}
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}
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static void reset_crosstrack()
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{
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2011-11-12 20:25:24 -04:00
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crosstrack_bearing = get_bearing(&prev_WP, &next_WP); // Used for track following
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2011-09-08 22:29:39 -03:00
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}
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