ardupilot/AntennaTracker/control_scan.cpp

41 lines
1.3 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Tracker.h"
/*
* Scan control mode
*/
/*
* update_scan - runs the scan controller
* called at 50hz while control_mode is 'SCAN'
*/
void Tracker::update_scan(void)
{
if (!nav_status.manual_control_yaw) {
float yaw_delta = g.scan_speed * 0.02f;
nav_status.bearing += yaw_delta * (nav_status.scan_reverse_yaw?-1:1);
if (nav_status.bearing < 0 && nav_status.scan_reverse_yaw) {
nav_status.scan_reverse_yaw = false;
}
if (nav_status.bearing > 360 && !nav_status.scan_reverse_yaw) {
nav_status.scan_reverse_yaw = true;
}
nav_status.bearing = constrain_float(nav_status.bearing, 0, 360);
}
if (!nav_status.manual_control_pitch) {
float pitch_delta = g.scan_speed * 0.02f;
nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1);
if (nav_status.pitch < -90 && nav_status.scan_reverse_pitch) {
nav_status.scan_reverse_pitch = false;
}
if (nav_status.pitch > 90 && !nav_status.scan_reverse_pitch) {
nav_status.scan_reverse_pitch = true;
}
nav_status.pitch = constrain_float(nav_status.pitch, -90, 90);
}
update_auto();
}