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

Tracker: Adding alt_source enum

This commit is contained in:
stefanlynka 2016-06-13 17:44:23 +09:00 committed by Randy Mackay
parent ce3f3012c5
commit 6f88da07aa
3 changed files with 8 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
AntennaTracker/GCS_Mavlink.cpp
View File

@ -129,7 +129,7 @@ void Tracker::send_waypoint_request(mavlink_channel_t chan)
void Tracker::send_nav_controller_output(mavlink_channel_t chan) void Tracker::send_nav_controller_output(mavlink_channel_t chan)
{ {
float alt_diff = (g.alt_source == 0) ? nav_status.alt_difference_baro : nav_status.alt_difference_gps; float alt_diff = (g.alt_source == ALT_SOURCE_BARO) ? nav_status.alt_difference_baro : nav_status.alt_difference_gps;
mavlink_msg_nav_controller_output_send( mavlink_msg_nav_controller_output_send(
chan, chan,

6
AntennaTracker/defines.h
View File

@ -24,6 +24,12 @@ enum ServoType {
SERVO_TYPE_CR=2 SERVO_TYPE_CR=2
}; };
enum AltSource{
ALT_SOURCE_BARO=0,
ALT_SOURCE_GPS=1
};
// Logging parameters // Logging parameters
#define MASK_LOG_ATTITUDE (1<<0) #define MASK_LOG_ATTITUDE (1<<0)
#define MASK_LOG_GPS (1<<1) #define MASK_LOG_GPS (1<<1)

2
AntennaTracker/tracking.cpp
View File

@ -66,7 +66,7 @@ void Tracker::update_bearing_and_distance()
// calculate pitch to vehicle // calculate pitch to vehicle
// To-Do: remove need for check of control_mode // To-Do: remove need for check of control_mode
if (control_mode != SCAN && !nav_status.manual_control_pitch) { if (control_mode != SCAN && !nav_status.manual_control_pitch) {
if (g.alt_source == 0) { if (g.alt_source == ALT_SOURCE_BARO) {
nav_status.pitch = degrees(atan2f(nav_status.alt_difference_baro, nav_status.distance)); nav_status.pitch = degrees(atan2f(nav_status.alt_difference_baro, nav_status.distance));
} else { } else {
nav_status.pitch = degrees(atan2f(nav_status.alt_difference_gps, nav_status.distance)); nav_status.pitch = degrees(atan2f(nav_status.alt_difference_gps, nav_status.distance));