Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-11 17:13:56 -03:00
Code Issues Packages Projects Releases Wiki Activity

Rover: fractional Loiter Turn Support

Browse Source 
Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
This commit is contained in:
J.R. Bronkar 2024-01-12 15:14:20 +11:00 committed by Tom Pittenger
parent 6ffdfd9f48
commit 1ec61c57ba
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
Rover/mode_auto.cpp
View File

@ -945,8 +945,9 @@ bool ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd)
bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd) bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
{ {
const float turns = cmd.get_loiter_turns();
// check if we have completed circling // check if we have completed circling
return ((g2.mode_circle.get_angle_total_rad() / M_2PI) >= LOWBYTE(cmd.p1)); return ((g2.mode_circle.get_angle_total_rad() / M_2PI) >= turns);
} }
/********************************************************************************/ /********************************************************************************/