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[fix] adapt object_tracking module to new nav interface (#3103)

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This commit is contained in:
Gautier Hattenberger
2023-09-25 21:45:48 +02:00
committed by GitHub
parent 3e27292244
commit 4812be6096
1 changed files with 3 additions and 3 deletions
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sw/airborne/modules/ctrl/object_tracking.c
+3 -3
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@@ -111,7 +111,7 @@ void object_tracking_run(void)
float diff = target_heading - nav.heading; float diff = target_heading - nav.heading;
FLOAT_ANGLE_NORMALIZE(diff); FLOAT_ANGLE_NORMALIZE(diff);
BoundAbs(diff, object_tracking_rate * nav_dt) BoundAbs(diff, object_tracking_rate * nav_dt)
nav_heading += ANGLE_BFP_OF_REAL(diff); nav.heading += diff;
#if OBJECT_TRACKING_DEBUG #if OBJECT_TRACKING_DEBUG
float msg[] = { float msg[] = {
target_heading, target_heading,
@@ -122,8 +122,8 @@ void object_tracking_run(void)
DOWNLINK_SEND_PAYLOAD_FLOAT(DefaultChannel, DefaultDevice, 4, msg); DOWNLINK_SEND_PAYLOAD_FLOAT(DefaultChannel, DefaultDevice, 4, msg);
#endif #endif
} else { } else {
nav_heading += ANGLE_BFP_OF_REAL(object_tracking_search_rate * nav_dt); nav.heading += object_tracking_search_rate * nav_dt;
} }
INT32_COURSE_NORMALIZE(nav_heading); NormCourseRad(nav.heading);
} }