ardupilot/APMrover2/navigation.cpp

35 lines
870 B
C++
Raw Normal View History

// -*- 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==false)){
return;
}
// waypoint distance from rover
// ----------------------------
wp_distance = get_distance(current_loc, next_WP);
if (wp_distance < 0){
2015-08-11 19:56:27 -03:00
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("<navigate> WP error - distance < 0"));
return;
}
// control mode specific updates to nav_bearing
// --------------------------------------------
update_navigation();
}