ardupilot/libraries/AP_WindVane/AP_WindVane_Home.cpp

33 lines
1.2 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_WindVane_Home.h"
#include <AP_AHRS/AP_AHRS.h>
void AP_WindVane_Home::update_direction()
{
float direction_apparent_ef = _frontend._home_heading;
if (_frontend._direction_type == _frontend.WINDVANE_PWM_PIN) {
RC_Channel *chan = rc().find_channel_for_option(RC_Channel::AUX_FUNC::WIND_VANE_DIR_OFSSET);
if (chan != nullptr) {
direction_apparent_ef += chan->norm_input() * radians(45);
}
}
_frontend._direction_apparent_raw = wrap_PI(direction_apparent_ef - AP::ahrs().yaw);
}