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ACM: change to use get_bearing_cd() instead of get_bearing()

This commit is contained in:
Andrew Tridgell 2012-08-07 16:04:02 +10:00
parent a5b5546e2a
commit fb26160d3b
4 changed files with 8 additions and 8 deletions
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6
ArduCopter/ArduCopter.pde
View File

@ -2011,7 +2011,7 @@ static void update_navigation()
if(yaw_mode == YAW_LOOK_AT_HOME){ if(yaw_mode == YAW_LOOK_AT_HOME){
if(home_is_set){ if(home_is_set){
//nav_yaw = point_at_home_yaw(); //nav_yaw = point_at_home_yaw();
nav_yaw = get_bearing(&current_loc, &home); nav_yaw = get_bearing_cd(&current_loc, &home);
} else { } else {
nav_yaw = 0; nav_yaw = 0;
} }
@ -2457,13 +2457,13 @@ static void update_nav_wp()
static void update_auto_yaw() static void update_auto_yaw()
{ {
if(wp_control == CIRCLE_MODE){ if(wp_control == CIRCLE_MODE){
auto_yaw = get_bearing(&current_loc, &circle_WP); auto_yaw = get_bearing_cd(&current_loc, &circle_WP);
}else if(wp_control == LOITER_MODE){ }else if(wp_control == LOITER_MODE){
// just hold nav_yaw // just hold nav_yaw
}else if(yaw_tracking == MAV_ROI_LOCATION){ }else if(yaw_tracking == MAV_ROI_LOCATION){
auto_yaw = get_bearing(&current_loc, &target_WP); auto_yaw = get_bearing_cd(&current_loc, &target_WP);
}else if(yaw_tracking == MAV_ROI_WPNEXT){ }else if(yaw_tracking == MAV_ROI_WPNEXT){
// Point towards next WP // Point towards next WP

2
ArduCopter/commands.pde
View File

@ -166,7 +166,7 @@ static void set_next_WP(struct Location *wp)
// this is handy for the groundstation // this is handy for the groundstation
// ----------------------------------- // -----------------------------------
wp_distance = get_distance_cm(&current_loc, &next_WP); wp_distance = get_distance_cm(&current_loc, &next_WP);
target_bearing = get_bearing(&prev_WP, &next_WP); target_bearing = get_bearing_cd(&prev_WP, &next_WP);
// calc the location error: // calc the location error:
calc_location_error(&next_WP); calc_location_error(&next_WP);

4
ArduCopter/commands_logic.pde
View File

@ -874,7 +874,7 @@ static void do_nav_roi()
if( camera_mount.get_mount_type() == AP_Mount::k_tilt_roll ) { if( camera_mount.get_mount_type() == AP_Mount::k_tilt_roll ) {
yaw_tracking = MAV_ROI_LOCATION; yaw_tracking = MAV_ROI_LOCATION;
target_WP = command_nav_queue; target_WP = command_nav_queue;
auto_yaw = get_bearing(&current_loc, &target_WP); auto_yaw = get_bearing_cd(&current_loc, &target_WP);
} }
// send the command to the camera mount // send the command to the camera mount
camera_mount.set_roi_cmd(&command_nav_queue); camera_mount.set_roi_cmd(&command_nav_queue);
@ -889,6 +889,6 @@ static void do_nav_roi()
// if we have no camera mount simply rotate the quad // if we have no camera mount simply rotate the quad
yaw_tracking = MAV_ROI_LOCATION; yaw_tracking = MAV_ROI_LOCATION;
target_WP = command_nav_queue; target_WP = command_nav_queue;
auto_yaw = get_bearing(&current_loc, &target_WP); auto_yaw = get_bearing_cd(&current_loc, &target_WP);
#endif #endif
} }

4
ArduCopter/navigation.pde
View File

@ -12,8 +12,8 @@ static void navigate()
// target_bearing is where we should be heading // target_bearing is where we should be heading
// -------------------------------------------- // --------------------------------------------
target_bearing = get_bearing(&current_loc, &next_WP); target_bearing = get_bearing_cd(&current_loc, &next_WP);
home_to_copter_bearing = get_bearing(&home, &current_loc); home_to_copter_bearing = get_bearing_cd(&home, &current_loc);
} }
static bool check_missed_wp() static bool check_missed_wp()