mirror of https://github.com/ArduPilot/ardupilot
23 lines
742 B
C++
23 lines
742 B
C++
#include "mode.h"
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#include "Tracker.h"
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#include <GCS_MAVLink/GCS.h>
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void ModeGuided::update()
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{
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static uint32_t last_debug;
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const uint32_t now = AP_HAL::millis();
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float target_roll, target_pitch, target_yaw;
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_target_att.to_euler(target_roll, target_pitch, target_yaw);
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if (now - last_debug > 5000) {
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last_debug = now;
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gcs().send_text(MAV_SEVERITY_INFO, "target_yaw=%f target_pitch=%f", degrees(target_yaw), degrees(target_pitch));
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}
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calc_angle_error(degrees(target_pitch)*100, degrees(target_yaw)*100, false);
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float bf_pitch;
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float bf_yaw;
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convert_ef_to_bf(target_pitch, target_yaw, bf_pitch, bf_yaw);
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tracker.update_pitch_servo(bf_pitch);
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tracker.update_yaw_servo(bf_yaw);
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}
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