mirror of https://github.com/ArduPilot/ardupilot
35 lines
870 B
C++
35 lines
870 B
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Rover.h"
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//****************************************************************
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// Function that will calculate the desired direction to fly and distance
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//****************************************************************
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void Rover::navigate()
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{
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// do not navigate with corrupt data
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// ---------------------------------
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if (!have_position) {
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return;
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}
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if ((next_WP.lat == 0)||(home_is_set==false)){
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return;
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}
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// waypoint distance from rover
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// ----------------------------
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wp_distance = get_distance(current_loc, next_WP);
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if (wp_distance < 0){
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gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("<navigate> WP error - distance < 0"));
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return;
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}
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// control mode specific updates to nav_bearing
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// --------------------------------------------
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update_navigation();
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}
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