ardupilot/APMrover2/navigation.cpp

35 lines
862 B
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#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)||(home_is_set==false)){
return;
}
// waypoint distance from rover
// ----------------------------
wp_distance = get_distance(current_loc, next_WP);
if (wp_distance < 0){
gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
return;
}
// control mode specific updates to nav_bearing
// --------------------------------------------
update_navigation();
}