ardupilot/APMrover2/navigation.cpp

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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
2015-05-13 00:16:45 -03:00
#include "Rover.h"
//****************************************************************
// Function that will calculate the desired direction to fly and distance
//****************************************************************
void Rover::navigate()
{
// do not navigate with corrupt data
// ---------------------------------
if (!have_position) {
return;
}
if ((next_WP.lat == 0) || (home_is_set==HOME_UNSET)){
return;
}
// waypoint distance from rover
// ----------------------------
wp_distance = get_distance(current_loc, next_WP);
// control mode specific updates to nav_bearing
// --------------------------------------------
update_navigation();
}