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waypoints coordinates bounded around home

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This commit is contained in:
Pascal Brisset
2007-09-13 12:04:37 +00:00
parent f454ab5070
commit 759de420f5
1 changed files with 3 additions and 0 deletions
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sw/airborne/nav.h
+3
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@@ -96,6 +96,8 @@ extern uint8_t horizontal_mode;
if (_id < nb_waypoint) { \
waypoints[_id].x = _ux - nav_utm_east0; \
waypoints[_id].y = _uy - nav_utm_north0; \
Bound(waypoints[_id].x, -MAX_DIST_FROM_HOME, MAX_DIST_FROM_HOME); \
Bound(waypoints[_id].y, -MAX_DIST_FROM_HOME, MAX_DIST_FROM_HOME); \
waypoints[_id].a = _a; \
} \
}
@@ -112,6 +114,7 @@ extern float ground_alt;
extern float nav_radius; /* m */
extern float nav_course; /* degrees, clockwise, 0.0 = N */
extern float nav_climb; /* m/s */
extern float nav_shift; /* Lateral shift along a route. In meters */
extern float nav_ground_speed_pgain, nav_ground_speed_setpoint;