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