mirror of https://github.com/ArduPilot/ardupilot
41 lines
1.3 KiB
C++
41 lines
1.3 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "Tracker.h"
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/*
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* Scan control mode
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*/
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/*
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* update_scan - runs the scan controller
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* called at 50hz while control_mode is 'SCAN'
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*/
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void Tracker::update_scan(void)
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{
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if (!nav_status.manual_control_yaw) {
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float yaw_delta = g.scan_speed * 0.02f;
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nav_status.bearing += yaw_delta * (nav_status.scan_reverse_yaw?-1:1);
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if (nav_status.bearing < 0 && nav_status.scan_reverse_yaw) {
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nav_status.scan_reverse_yaw = false;
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}
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if (nav_status.bearing > 360 && !nav_status.scan_reverse_yaw) {
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nav_status.scan_reverse_yaw = true;
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}
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nav_status.bearing = constrain_float(nav_status.bearing, 0, 360);
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}
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if (!nav_status.manual_control_pitch) {
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float pitch_delta = g.scan_speed * 0.02f;
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nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1);
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if (nav_status.pitch < -90 && nav_status.scan_reverse_pitch) {
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nav_status.scan_reverse_pitch = false;
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}
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if (nav_status.pitch > 90 && !nav_status.scan_reverse_pitch) {
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nav_status.scan_reverse_pitch = true;
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}
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nav_status.pitch = constrain_float(nav_status.pitch, -90, 90);
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}
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update_auto();
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}
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