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Added Bearing to home, distance to home calcs

This commit is contained in:
Jason Short 2011-12-09 15:34:20 -08:00
parent 49806d93d9
commit 3ff7b047d5
1 changed files with 2 additions and 0 deletions
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2
ArduCopter/navigation.pde
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@ -12,6 +12,7 @@ static byte navigate()
// waypoint distance from plane // waypoint distance from plane
// ---------------------------- // ----------------------------
wp_distance = get_distance(&current_loc, &next_WP); wp_distance = get_distance(&current_loc, &next_WP);
home_distance = get_distance(&current_loc, &home);
if (wp_distance < 0){ if (wp_distance < 0){
//gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0")); //gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
@ -23,6 +24,7 @@ static byte navigate()
// target_bearing is where we should be heading // target_bearing is where we should be heading
// -------------------------------------------- // --------------------------------------------
target_bearing = get_bearing(&current_loc, &next_WP); target_bearing = get_bearing(&current_loc, &next_WP);
home_to_copter_bearing = get_bearing(&home, &current_loc);
return 1; return 1;
} }