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Tracker: fix formatting and gps based alt difference

This commit is contained in:
Randy Mackay 2016-05-25 09:50:10 +09:00
parent 1293b16589
commit 68e4a83f44
1 changed files with 4 additions and 5 deletions
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9
AntennaTracker/tracking.cpp
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@ -58,15 +58,14 @@ void Tracker::update_bearing_and_distance()
nav_status.distance = get_distance(current_loc, vehicle.location_estimate);
// calculate altitude difference to vehicle using gps
nav_status.alt_difference_gps = vehicle.location.alt - current_loc.alt;
nav_status.alt_difference_gps = (vehicle.location.alt - current_loc.alt) / 100.0f;
// calculate pitch to vehicle
// To-Do: remove need for check of control_mode
if (control_mode != SCAN && !nav_status.manual_control_pitch) {
if(g.alt_source == 0){
nav_status.pitch = degrees(atan2f(nav_status.alt_difference_baro, nav_status.distance));
}
else{
if (g.alt_source == 0) {
nav_status.pitch = degrees(atan2f(nav_status.alt_difference_baro, nav_status.distance));
} else {
nav_status.pitch = degrees(atan2f(nav_status.alt_difference_gps, nav_status.distance));
}
}