From 1e451e8165b4ad553633475c8ada06ea71175730 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Tue, 3 Dec 2019 15:33:40 +1100
Subject: [PATCH] Tracker: move update_scan into mode.cpp

Consolidating Mode:: methods in mode.cpp
---
 AntennaTracker/control_scan.cpp | 42 ---------------------------------
 AntennaTracker/mode.cpp         | 33 ++++++++++++++++++++++++++
 2 files changed, 33 insertions(+), 42 deletions(-)
 delete mode 100644 AntennaTracker/control_scan.cpp

diff --git a/AntennaTracker/control_scan.cpp b/AntennaTracker/control_scan.cpp
deleted file mode 100644
index aa6c65557e..0000000000
--- a/AntennaTracker/control_scan.cpp
+++ /dev/null
@@ -1,42 +0,0 @@
-#include "Tracker.h"
-
-/*
- * Scan control mode
- */
-
-/*
- * update_scan - runs the scan controller
- *  called at 50hz while control mode is 'SCAN'
- */
-void Mode::update_scan(void)
-{
-    struct Tracker::NavStatus &nav_status = tracker.nav_status;
-
-    Parameters &g = tracker.g;
-
-    if (!nav_status.manual_control_yaw) {
-        float yaw_delta = g.scan_speed_yaw * 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_pitch * 0.02f;
-        nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1);
-        if (nav_status.pitch < g.pitch_min && nav_status.scan_reverse_pitch) {
-            nav_status.scan_reverse_pitch = false;
-        }
-        if (nav_status.pitch > g.pitch_max && !nav_status.scan_reverse_pitch) {
-            nav_status.scan_reverse_pitch = true;
-        }
-        nav_status.pitch = constrain_float(nav_status.pitch, -g.pitch_min, g.pitch_max);
-    }
-
-    update_auto();
-}
diff --git a/AntennaTracker/mode.cpp b/AntennaTracker/mode.cpp
index 63a73f2ef1..62387c45d8 100644
--- a/AntennaTracker/mode.cpp
+++ b/AntennaTracker/mode.cpp
@@ -32,6 +32,39 @@ void Mode::update_auto(void)
     }
 }
 
+void Mode::update_scan(void)
+{
+    struct Tracker::NavStatus &nav_status = tracker.nav_status;
+
+    Parameters &g = tracker.g;
+
+    if (!nav_status.manual_control_yaw) {
+        float yaw_delta = g.scan_speed_yaw * 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_pitch * 0.02f;
+        nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1);
+        if (nav_status.pitch < g.pitch_min && nav_status.scan_reverse_pitch) {
+            nav_status.scan_reverse_pitch = false;
+        }
+        if (nav_status.pitch > g.pitch_max && !nav_status.scan_reverse_pitch) {
+            nav_status.scan_reverse_pitch = true;
+        }
+        nav_status.pitch = constrain_float(nav_status.pitch, -g.pitch_min, g.pitch_max);
+    }
+
+    update_auto();
+}
+
 void Mode::calc_angle_error(float pitch, float yaw, bool direction_reversed)
 {
     // Pitch angle error in centidegrees