ardupilot/APMrover2/navigation.cpp

28 lines
747 B
C++

#include "Rover.h"
//****************************************************************
// Function that will calculate the desired direction to fly and distance
//****************************************************************
void Rover::navigate()
{
// do not navigate with corrupt data
// ---------------------------------
if (!have_position) {
return;
}
if ((next_WP.lat == 0 && next_WP.lng == 0) || (home_is_set == HOME_UNSET)){
return;
}
// waypoint distance from rover
// ----------------------------
wp_distance = get_distance(current_loc, next_WP);
// control mode specific updates to nav_bearing
// --------------------------------------------
update_navigation();
}