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Tracker: move pos estimate to separate function

This commit is contained in:
Randy Mackay 2014-10-01 23:00:00 +09:00
parent 8e548ddabc
commit 643a680fed
1 changed files with 15 additions and 5 deletions
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20
AntennaTracker/tracking.pde
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@ -294,6 +294,19 @@ static void update_vehicle_pos_estimate()
}
}
/**
update_tracker_position - updates antenna tracker position from GPS location
should be called at 50hz
*/
static void update_tracker_position()
{
// update our position if we have at least a 2D fix
// REVISIT: what if we lose lock during a mission and the antenna is moving?
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
current_loc = gps.location();
}
}
/**
update_bearing_and_distance - updates bearing and distance to the vehicle
should be called at 50hz
@ -329,11 +342,8 @@ static void update_tracking(void)
// update vehicle position estimate
update_vehicle_pos_estimate();
// update our position if we have at least a 2D fix
// REVISIT: what if we lose lock during a mission and the antenna is moving?
if (gps.status() >= AP_GPS::GPS_OK_FIX_2D) {
current_loc = gps.location();
}
// update antenna tracker position from GPS
update_tracker_position();
// update bearing and distance to vehicle
update_bearing_and_distance();