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Tracker: use pitch-min and pitch-max in place of constants

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IamPete1 2019-03-10 10:49:28 +00:00 committed by Peter Barker
parent a967caa924
commit 836adb6b0b
2 changed files with 4 additions and 4 deletions
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2
AntennaTracker/control_auto.cpp
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@ -16,7 +16,7 @@ void Tracker::update_auto(void)
} }
float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100); // target yaw in centidegrees float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100); // target yaw in centidegrees
float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90) * 100; // target pitch in centidegrees float pitch = constrain_float(nav_status.pitch+g.pitch_trim, g.pitch_min, g.pitch_max) * 100; // target pitch in centidegrees
bool direction_reversed = get_ef_yaw_direction(); bool direction_reversed = get_ef_yaw_direction();

6
AntennaTracker/control_scan.cpp
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@ -25,13 +25,13 @@ void Tracker::update_scan(void)
if (!nav_status.manual_control_pitch) { if (!nav_status.manual_control_pitch) {
float pitch_delta = g.scan_speed_pitch * 0.02f; float pitch_delta = g.scan_speed_pitch * 0.02f;
nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1); nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1);
if (nav_status.pitch < -90 && nav_status.scan_reverse_pitch) { if (nav_status.pitch < g.pitch_min && nav_status.scan_reverse_pitch) {
nav_status.scan_reverse_pitch = false; nav_status.scan_reverse_pitch = false;
} }
if (nav_status.pitch > 90 && !nav_status.scan_reverse_pitch) { if (nav_status.pitch > g.pitch_max && !nav_status.scan_reverse_pitch) {
nav_status.scan_reverse_pitch = true; nav_status.scan_reverse_pitch = true;
} }
nav_status.pitch = constrain_float(nav_status.pitch, -90, 90); nav_status.pitch = constrain_float(nav_status.pitch, -g.pitch_min, g.pitch_max);
} }
update_auto(); update_auto();