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