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Spell 'latitude'.

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Fixes to make this build.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@506 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2010-09-13 03:51:27 +00:00
parent 2f39f95556
commit 1f7f814183
2 changed files with 18 additions and 7 deletions
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11
libraries/AP_Navigation/Navigation.cpp
View File

@ -12,7 +12,7 @@ Navigation::update_gps()
{ {
location.alt = _gps->altitude; location.alt = _gps->altitude;
location.lng = _gps->longitude; location.lng = _gps->longitude;
location.lat = _gps->lattitude; location.lat = _gps->latitude;
// target_bearing is where we should be heading // target_bearing is where we should be heading
bearing = get_bearing(&location, &next_wp); bearing = get_bearing(&location, &next_wp);
@ -74,18 +74,17 @@ Navigation::load_wp_index(uint8_t i)
_wp->set_index(i); _wp->set_index(i);
set_next_wp(_wp->get_current_waypoint()); set_next_wp(_wp->get_current_waypoint());
} }
void void
Navigation::hold_location() Navigation::hold_location()
{ {
// set_next_wp() XXX needs to be implemented
set_next_wp()
} }
void void
Navigation::set_home(Waypoints::WP loc) Navigation::set_home(Waypoints::WP loc)
{ {
Waypoints::WP loc _wp->set_waypoint_with_index(loc, 0);
_wp->set_waypoint_with_index(loc, i);
home = loc; home = loc;
//location = home; //location = home;
} }
@ -190,7 +189,7 @@ Navigation::calc_altitude_error(void)
void void
Navigation::set_loiter_vector(int16_t v) Navigation::set_loiter_vector(int16_t v)
{ {
_vector = constrain(v, -18000, 18000); // _vector = constrain(v, -18000, 18000); XXX needs to be implemented
} }
void void

14
libraries/AP_Navigation/Navigation.h
View File

@ -1,3 +1,7 @@
#ifndef AP_NAVIGATION_h
#define AP_NAVIGATION_h
#define XTRACK_GAIN 10 // Amount to compensate for crosstrack (degrees/100 per meter) #define XTRACK_GAIN 10 // Amount to compensate for crosstrack (degrees/100 per meter)
#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100 #define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100
#include <GPS.h> // ArduPilot GPS Library #include <GPS.h> // ArduPilot GPS Library
@ -12,12 +16,15 @@ public:
void update_gps(void); // called 50 Hz void update_gps(void); // called 50 Hz
void set_home(Waypoints::WP loc); void set_home(Waypoints::WP loc);
void set_next_wp(Waypoints::WP loc);
void load_first_wp(void); void load_first_wp(void);
void load_wp_with_index(uint8_t i); void load_wp_with_index(uint8_t i);
void load_home(void); void load_home(void);
void return_to_home(void); void return_to_home_with_alt(uint32_t alt);
void reload_wp(void); void reload_wp(void);
void load_wp_index(uint8_t i);
void hold_location();
void set_wp(Waypoints::WP loc); void set_wp(Waypoints::WP loc);
void set_hold_course(int16_t b); // -1 deisables, 0-36000 enables void set_hold_course(int16_t b); // -1 deisables, 0-36000 enables
@ -27,6 +34,7 @@ public:
int32_t get_bearing(Waypoints::WP *loc1, Waypoints::WP *loc2); int32_t get_bearing(Waypoints::WP *loc1, Waypoints::WP *loc2);
void set_bearing_error(int32_t error); void set_bearing_error(int32_t error);
void set_loiter_vector(int16_t v);
void update_crosstrack(void); void update_crosstrack(void);
int32_t bearing; // deg * 100 : 0 to 360 current desired bearing to navigate int32_t bearing; // deg * 100 : 0 to 360 current desired bearing to navigate
@ -44,6 +52,7 @@ private:
void calc_bearing_error(void); void calc_bearing_error(void);
void calc_altitude_error(void); void calc_altitude_error(void);
void calc_distance_error(void); void calc_distance_error(void);
void calc_long_scaling(int32_t lat);
void reset_crosstrack(void); void reset_crosstrack(void);
int32_t wrap_360(int32_t error); // utility int32_t wrap_360(int32_t error); // utility
@ -60,3 +69,6 @@ private:
float _scaleLongDown; // used to reverse int32_ttitude scaling float _scaleLongDown; // used to reverse int32_ttitude scaling
int16_t _loiter_delta; int16_t _loiter_delta;
}; };
#endif // AP_NAVIGATION_h