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38 lines
1.2 KiB
38 lines
1.2 KiB
#include "Tracker.h" |
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/* |
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* Scan control mode |
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*/ |
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/* |
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* update_scan - runs the scan controller |
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* called at 50hz while control_mode is 'SCAN' |
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*/ |
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void Tracker::update_scan(void) |
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{ |
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if (!nav_status.manual_control_yaw) { |
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float yaw_delta = g.scan_speed_yaw * 0.02f; |
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nav_status.bearing += yaw_delta * (nav_status.scan_reverse_yaw?-1:1); |
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if (nav_status.bearing < 0 && nav_status.scan_reverse_yaw) { |
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nav_status.scan_reverse_yaw = false; |
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} |
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if (nav_status.bearing > 360 && !nav_status.scan_reverse_yaw) { |
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nav_status.scan_reverse_yaw = true; |
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} |
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nav_status.bearing = constrain_float(nav_status.bearing, 0, 360); |
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} |
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if (!nav_status.manual_control_pitch) { |
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float pitch_delta = g.scan_speed_pitch * 0.02f; |
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nav_status.pitch += pitch_delta * (nav_status.scan_reverse_pitch?-1:1); |
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if (nav_status.pitch < g.pitch_min && nav_status.scan_reverse_pitch) { |
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nav_status.scan_reverse_pitch = false; |
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} |
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if (nav_status.pitch > g.pitch_max && !nav_status.scan_reverse_pitch) { |
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nav_status.scan_reverse_pitch = true; |
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} |
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nav_status.pitch = constrain_float(nav_status.pitch, -g.pitch_min, g.pitch_max); |
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} |
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update_auto(); |
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}
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