ardupilot/AntennaTracker/control_scan.cpp

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#include "Tracker.h"
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/*
* Scan control mode
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*/
/*
* update_scan - runs the scan controller
* called at 50hz while control_mode is 'SCAN'
*/
void Tracker::update_scan(void)
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{
if (!nav_status.manual_control_yaw) {
float yaw_delta = g.scan_speed_yaw * 0.02f;
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nav_status.bearing += yaw_delta * (nav_status.scan_reverse_yaw?-1:1);
if (nav_status.bearing < 0 && nav_status.scan_reverse_yaw) {
nav_status.scan_reverse_yaw = false;
}
if (nav_status.bearing > 360 && !nav_status.scan_reverse_yaw) {
nav_status.scan_reverse_yaw = true;
}
nav_status.bearing = constrain_float(nav_status.bearing, 0, 360);
}
if (!nav_status.manual_control_pitch) {
float pitch_delta = g.scan_speed_pitch * 0.02f;
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nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1);
if (nav_status.pitch < g.pitch_min && nav_status.scan_reverse_pitch) {
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nav_status.scan_reverse_pitch = false;
}
if (nav_status.pitch > g.pitch_max && !nav_status.scan_reverse_pitch) {
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nav_status.scan_reverse_pitch = true;
}
nav_status.pitch = constrain_float(nav_status.pitch, -g.pitch_min, g.pitch_max);
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}
update_auto();
}