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Added a default Yaw tracking setting 

Added Nav_Bearing
This commit is contained in:
Jason Short 2011-12-30 23:19:42 -08:00
parent 84d3e3135f
commit 15a377d759
1 changed files with 4 additions and 0 deletions
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4
ArduCopter/commands.pde
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@ -8,6 +8,9 @@ static void init_commands()
prev_nav_index = NO_COMMAND; prev_nav_index = NO_COMMAND;
command_cond_queue.id = NO_COMMAND; command_cond_queue.id = NO_COMMAND;
command_nav_queue.id = NO_COMMAND; command_nav_queue.id = NO_COMMAND;
// default Yaw tracking
yaw_tracking = MAV_ROI_WPNEXT;
} }
// Getters // Getters
@ -176,6 +179,7 @@ static void set_next_WP(struct Location *wp)
wp_totalDistance = get_distance(&current_loc, &next_WP); wp_totalDistance = get_distance(&current_loc, &next_WP);
wp_distance = wp_totalDistance; wp_distance = wp_totalDistance;
target_bearing = get_bearing(&prev_WP, &next_WP); target_bearing = get_bearing(&prev_WP, &next_WP);
nav_bearing = target_bearing;
// to check if we have missed the WP // to check if we have missed the WP
// --------------------------------- // ---------------------------------