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nav_oval_count added

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Pascal Brisset
2009-08-12 15:33:28 +00:00
parent 2d11b0dcb0
commit 524623d17b
2 changed files with 5 additions and 0 deletions
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sw/airborne/nav.c
+4
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@@ -567,8 +567,11 @@ void nav_eight(uint8_t target, uint8_t c1, float radius) {
enum oval_status { OR12, OC2, OR21, OC1 };
static enum oval_status oval_status;
uint8_t nav_oval_count;
void nav_oval_init( void ) {
oval_status = OC2;
nav_oval_count = 0;
}
void nav_oval(uint8_t p1, uint8_t p2, float radius) {
@@ -621,6 +624,7 @@ void nav_oval(uint8_t p1, uint8_t p2, float radius) {
nav_route_xy(p1_out.x, p1_out.y, p2_in.x, p2_in.y);
if (nav_approaching_xy(p2_in.x, p2_in.y, p1_out.x, p1_out.y, CARROT)) {
oval_status = OC2;
nav_oval_count++;
InitStage();
}
return;
sw/airborne/nav.h
+1
View File
@@ -79,6 +79,7 @@ extern void nav_eight(uint8_t, uint8_t, float);
extern void nav_oval_init( void );
extern void nav_oval(uint8_t, uint8_t, float);
extern uint8_t nav_oval_count;
#define Oval(a, b, c) nav_oval((b), (a), (c))
extern float nav_radius; /* m */