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36 lines
1.2 KiB
36 lines
1.2 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "AP_WindVane_Home.h" |
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// constructor |
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AP_WindVane_Home::AP_WindVane_Home(AP_WindVane &frontend) : |
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AP_WindVane_Backend(frontend) |
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{ |
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} |
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void AP_WindVane_Home::update_direction() |
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{ |
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float direction_apparent_ef = _frontend._home_heading; |
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if (_frontend._direction_type == _frontend.WINDVANE_PWM_PIN && _frontend._rc_in_no != 0) { |
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RC_Channel *chan = rc().channel(_frontend._rc_in_no-1); |
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if (chan != nullptr) { |
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direction_apparent_ef = wrap_PI(direction_apparent_ef + chan->norm_input() * radians(45)); |
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} |
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} |
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direction_update_frontend(direction_apparent_ef); |
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}
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