Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Tracker: move update_scan into mode.cpp 

Consolidating Mode:: methods in mode.cpp
This commit is contained in:
Peter Barker 2019-12-03 15:33:40 +11:00 committed by Peter Barker
parent f3d3f01e76
commit 1e451e8165
2 changed files with 33 additions and 42 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
AntennaTracker/control_scan.cpp
View File

@ -1,42 +0,0 @@
#include "Tracker.h"
/*
* Scan control mode
*/
/*
* update_scan - runs the scan controller
* called at 50hz while control mode is 'SCAN'
*/
void Mode::update_scan(void)
{
struct Tracker::NavStatus &nav_status = tracker.nav_status;
Parameters &g = tracker.g;
if (!nav_status.manual_control_yaw) {
float yaw_delta = g.scan_speed_yaw * 0.02f;
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;
nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1);
if (nav_status.pitch < g.pitch_min && nav_status.scan_reverse_pitch) {
nav_status.scan_reverse_pitch = false;
}
if (nav_status.pitch > g.pitch_max && !nav_status.scan_reverse_pitch) {
nav_status.scan_reverse_pitch = true;
}
nav_status.pitch = constrain_float(nav_status.pitch, -g.pitch_min, g.pitch_max);
}
update_auto();
}

33
AntennaTracker/mode.cpp
View File

@ -32,6 +32,39 @@ void Mode::update_auto(void)
}
}
void Mode::update_scan(void)
{
struct Tracker::NavStatus &nav_status = tracker.nav_status;
Parameters &g = tracker.g;
if (!nav_status.manual_control_yaw) {
float yaw_delta = g.scan_speed_yaw * 0.02f;
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;
nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1);
if (nav_status.pitch < g.pitch_min && nav_status.scan_reverse_pitch) {
nav_status.scan_reverse_pitch = false;
}
if (nav_status.pitch > g.pitch_max && !nav_status.scan_reverse_pitch) {
nav_status.scan_reverse_pitch = true;
}
nav_status.pitch = constrain_float(nav_status.pitch, -g.pitch_min, g.pitch_max);
}
update_auto();
}
void Mode::calc_angle_error(float pitch, float yaw, bool direction_reversed)
{
// Pitch angle error in centidegrees