mirror of https://github.com/ArduPilot/ardupilot
28 lines
748 B
C++
28 lines
748 B
C++
#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 && next_WP.lng == 0) || (home_is_set == HOME_UNSET)) {
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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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// 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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