mirror of https://github.com/ArduPilot/ardupilot
30 lines
811 B
C++
30 lines
811 B
C++
#include "Copter.h"
|
|
|
|
// run_nav_updates - top level call for the autopilot
|
|
// ensures calculations such as "distance to waypoint" are calculated before autopilot makes decisions
|
|
// To-Do - rename and move this function to make it's purpose more clear
|
|
void Copter::run_nav_updates(void)
|
|
{
|
|
update_super_simple_bearing(false);
|
|
|
|
flightmode->update_navigation();
|
|
}
|
|
|
|
// distance between vehicle and home in cm
|
|
uint32_t Copter::home_distance()
|
|
{
|
|
if (position_ok()) {
|
|
_home_distance = current_loc.get_distance(ahrs.get_home()) * 100;
|
|
}
|
|
return _home_distance;
|
|
}
|
|
|
|
// The location of home in relation to the vehicle in centi-degrees
|
|
int32_t Copter::home_bearing()
|
|
{
|
|
if (position_ok()) {
|
|
_home_bearing = current_loc.get_bearing_to(ahrs.get_home());
|
|
}
|
|
return _home_bearing;
|
|
}
|