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ACM : Test for bearing calc

This commit is contained in:
Jason Short 2012-08-15 21:03:32 -07:00
parent 99dcbd039d
commit 31f31eec75
1 changed files with 16 additions and 2 deletions
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18
ArduCopter/test.pde
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@ -19,7 +19,7 @@ static int8_t test_ins(uint8_t argc, const Menu::arg *argv);
//static int8_t test_stab_d(uint8_t argc, const Menu::arg *argv);
static int8_t test_battery(uint8_t argc, const Menu::arg *argv);
//static int8_t test_toy(uint8_t argc, const Menu::arg *argv);
//static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
static int8_t test_wp_nav(uint8_t argc, const Menu::arg *argv);
//static int8_t test_reverse(uint8_t argc, const Menu::arg *argv);
static int8_t test_tuning(uint8_t argc, const Menu::arg *argv);
static int8_t test_relay(uint8_t argc, const Menu::arg *argv);
@ -88,7 +88,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
// {"rawgps", test_rawgps},
// {"mission", test_mission},
//{"reverse", test_reverse},
//{"wp", test_wp_nav},
{"nav", test_wp_nav},
};
// A Macro to create the Menu
@ -1236,6 +1236,20 @@ test_optflow(uint8_t argc, const Menu::arg *argv)
}
static int8_t
test_wp_nav(uint8_t argc, const Menu::arg *argv)
{
current_loc.lat = 389539260;
current_loc.lng = -1199540200;
next_WP.lat = 389538528;
next_WP.lng = -1199541248;
// got 235;, should be 228
navigate();
Serial.printf("bear: %ld\n", target_bearing);
}
/*
test the dataflash is working
*/