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28 lines
768 B
28 lines
768 B
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Tracker.h" |
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/* |
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* control_auto.pde - auto control mode |
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*/ |
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/* |
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* update_auto - runs the auto controller |
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* called at 50hz while control_mode is 'AUTO' |
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*/ |
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void Tracker::update_auto(void) |
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{ |
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// exit immediately if we do not have a valid vehicle position |
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if (!vehicle.location_valid) { |
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return; |
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} |
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float yaw = wrap_180_cd((nav_status.bearing+g.yaw_trim)*100) * 0.01f; |
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float pitch = constrain_float(nav_status.pitch+g.pitch_trim, -90, 90); |
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// only move servos if target is at least distance_min away |
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if ((g.distance_min <= 0) || (nav_status.distance >= g.distance_min)) { |
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update_pitch_servo(pitch); |
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update_yaw_servo(yaw); |
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} |
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}
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