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Tracker: auto move servos only with valid vehicle position

This commit is contained in:
Randy Mackay 2014-10-01 23:32:01 +09:00
parent 0d1fefc23d
commit bf4ba9ffc4
1 changed files with 5 additions and 0 deletions
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5
AntennaTracker/control_auto.pde
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@ -10,6 +10,11 @@
*/ */
static void update_auto(void) static void update_auto(void)
{ {
// exit immediately if we do not have a valid vehicle position
if (!vehicle.location_valid) {
return;
}
float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f; float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f;
float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90); float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90);
update_pitch_servo(pitch); update_pitch_servo(pitch);