ardupilot/libraries/AP_WindVane/AP_WindVane_Home.cpp

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2019-05-09 21:14:18 -03:00
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_Home.h"
// constructor
AP_WindVane_Home::AP_WindVane_Home(AP_WindVane &frontend) :
AP_WindVane_Backend(frontend)
{
}
void AP_WindVane_Home::update_direction()
{
float direction_apparent_ef = _frontend._home_heading;
if (_frontend._direction_type == _frontend.WINDVANE_PWM_PIN && _frontend._rc_in_no != 0) {
RC_Channel *chan = rc().channel(_frontend._rc_in_no-1);
if (chan != nullptr) {
direction_apparent_ef = wrap_PI(direction_apparent_ef + chan->norm_input() * radians(45));
}
}
direction_update_frontend(direction_apparent_ef);
}