Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-05 15:38:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

New Navigation Lib

Browse Source 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@346 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2010-08-29 22:59:02 +00:00
parent 785162ee8d
commit e27e8a0e94
4 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Navigation/Navigation.cpp
View File

@ -1,6 +1,6 @@
#include "Navigation.h" #include "Navigation.h"
Navigation::Navigation(AP_GPS *withGPS) : Navigation::Navigation(GPS *withGPS) :
_gps(withGPS), _gps(withGPS),
_hold_course(-1) _hold_course(-1)
{ {

6
libraries/AP_Navigation/Navigation.h
View File

@ -1,6 +1,6 @@
#define XTRACK_GAIN 10 // Amount to compensate for crosstrack (degrees/100 per meter) #define XTRACK_GAIN 10 // Amount to compensate for crosstrack (degrees/100 per meter)
#define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100 #define XTRACK_ENTRY_ANGLE 3000 // Max angle used to correct for track following degrees*100
#include <AP_GPS.h> // ArduPilot GPS Library #include <GPS.h> // ArduPilot GPS Library
#include "Waypoints.h" // ArduPilot Waypoints Library #include "Waypoints.h" // ArduPilot Waypoints Library
#include "WProgram.h" #include "WProgram.h"
@ -8,7 +8,7 @@
class Navigation { class Navigation {
public: public:
Navigation(AP_GPS *withGPS); Navigation(GPS *withGPS);
void update_gps(void); // called 50 Hz void update_gps(void); // called 50 Hz
void set_home(Waypoints::WP loc); void set_home(Waypoints::WP loc);
@ -37,7 +37,7 @@ private:
int32_t wrap_360(int32_t error); // utility int32_t wrap_360(int32_t error); // utility
int16_t _old_bearing; // used to track delta on the bearing int16_t _old_bearing; // used to track delta on the bearing
AP_GPS *_gps; GPS *_gps;
long _crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target long _crosstrack_bearing; // deg * 100 : 0 to 360 desired angle of plane to target
float _crosstrack_error; // deg * 100 : 18000 to -18000 meters we are off trackline float _crosstrack_error; // deg * 100 : 18000 to -18000 meters we are off trackline
long _hold_course; // deg * 100 dir of plane long _hold_course; // deg * 100 dir of plane

2
libraries/AP_Navigation/examples/Navigation/Navigation.pde
View File

@ -11,7 +11,7 @@ This test assumes you are at the LOWl demo Airport
AP_GPS_IMU gps; AP_GPS_IMU gps;
Navigation nav((AP_GPS *) & gps); Navigation nav((GPS *) & gps);
AP_RC rc; AP_RC rc;
#define CH_ROLL 0 #define CH_ROLL 0

2
libraries/AP_Navigation/examples/Navigation_simple/Navigation_simple.pde
View File

@ -4,7 +4,7 @@
AP_GPS_IMU gps; AP_GPS_IMU gps;
Navigation nav((AP_GPS *) & gps); Navigation nav((GPS *) & gps);
void setup() void setup()
{ {