Tracker: move update_scan into mode.cpp

Consolidating Mode:: methods in mode.cpp

AntennaTracker/control_scan.cpp

@@ -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();
-}

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