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

ACM : Formatting

This commit is contained in:
Jason Short 2012-10-27 20:24:52 -07:00
parent e138b0a1d7
commit 36040461df
1 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
ArduCopter/navigation.pde
View File

@ -12,7 +12,7 @@ static void navigate()
// target_bearing is where we should be heading // target_bearing is where we should be heading
// -------------------------------------------- // --------------------------------------------
target_bearing = get_bearing_cd(&filtered_loc, &next_WP); target_bearing = get_bearing_cd(&filtered_loc, &next_WP);
home_to_copter_bearing = get_bearing_cd(&home, &current_loc); home_to_copter_bearing = get_bearing_cd(&home, &current_loc);
} }
@ -37,8 +37,8 @@ static void calc_XY_velocity(){
// initialise last_longitude and last_latitude // initialise last_longitude and last_latitude
if( last_longitude == 0 && last_latitude == 0 ) { if( last_longitude == 0 && last_latitude == 0 ) {
last_longitude = g_gps->longitude; last_longitude = g_gps->longitude;
last_latitude = g_gps->latitude; last_latitude = g_gps->latitude;
} }
// this speed is ~ in cm because we are using 10^7 numbers from GPS // this speed is ~ in cm because we are using 10^7 numbers from GPS
@ -196,7 +196,7 @@ static void calc_nav_rate(int16_t max_speed)
#endif #endif
x_rate_error = constrain(x_rate_error, -500, 500); x_rate_error = constrain(x_rate_error, -500, 500);
nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav); nav_lon = g.pid_nav_lon.get_pid(x_rate_error, dTnav);
int32_t tilt = (x_target_speed * x_target_speed * (int32_t)g.tilt_comp) / 10000; int32_t tilt = (x_target_speed * x_target_speed * (int32_t)g.tilt_comp) / 10000;
if(x_target_speed < 0) tilt = -tilt; if(x_target_speed < 0) tilt = -tilt;
@ -212,8 +212,8 @@ static void calc_nav_rate(int16_t max_speed)
#endif #endif
y_rate_error = constrain(y_rate_error, -500, 500); // added a rate error limit to keep pitching down to a minimum y_rate_error = constrain(y_rate_error, -500, 500); // added a rate error limit to keep pitching down to a minimum
nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav); nav_lat = g.pid_nav_lat.get_pid(y_rate_error, dTnav);
tilt = (y_target_speed * y_target_speed * (int32_t)g.tilt_comp) / 10000; tilt = (y_target_speed * y_target_speed * (int32_t)g.tilt_comp) / 10000;
if(y_target_speed < 0) tilt = -tilt; if(y_target_speed < 0) tilt = -tilt;
nav_lat += tilt; nav_lat += tilt;