Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-24 05:45:59 +08:00
Code Issues Actions 25 Packages Projects Releases Wiki Activity

[nav] configurable heading during rotorcraft survey

Browse Source
This commit is contained in:
Gautier Hattenberger
2019-10-08 14:00:47 +02:00
parent 350ef9ba59
commit 6c8eea0447
1 changed files with 10 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/modules/nav/nav_survey_rectangle_rotorcraft.c
+10 -2
View File
@@ -51,6 +51,14 @@
#include "modules/nav/nav_survey_rectangle_rotorcraft.h"
#include "state.h"
#ifndef RECTANGLE_SURVEY_HEADING_NS
#define RECTANGLE_SURVEY_HEADING_NS 0.f
#endif
#ifndef RECTANGLE_SURVEY_HEADING_WE
#define RECTANGLE_SURVEY_HEADING_WE 90.f
#endif
float sweep = RECTANGLE_SURVEY_DEFAULT_SWEEP;
static bool nav_survey_rectangle_active = false;
uint16_t rectangle_survey_sweep_num;
@@ -147,9 +155,9 @@ void nav_survey_rectangle_rotorcraft_setup(uint8_t wp1, uint8_t wp2, float grid,
LINE_STOP_FUNCTION;
NavVerticalAltitudeMode(waypoints[wp1].enu_f.z, 0.);
if (survey_orientation == NS) {
nav_set_heading_deg(0);
nav_set_heading_deg(RECTANGLE_SURVEY_HEADING_NS);
} else {
nav_set_heading_deg(90);
nav_set_heading_deg(RECTANGLE_SURVEY_HEADING_WE);
}
}