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34 lines
862 B
34 lines
862 B
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include "Rover.h" |
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//**************************************************************** |
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// Function that will calculate the desired direction to fly and distance |
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//**************************************************************** |
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void Rover::navigate() |
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{ |
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// do not navigate with corrupt data |
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// --------------------------------- |
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if (!have_position) { |
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return; |
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} |
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if ((next_WP.lat == 0)||(home_is_set==false)){ |
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return; |
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} |
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// waypoint distance from rover |
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// ---------------------------- |
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wp_distance = get_distance(current_loc, next_WP); |
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if (wp_distance < 0){ |
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gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0")); |
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return; |
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} |
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// control mode specific updates to nav_bearing |
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// -------------------------------------------- |
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update_navigation(); |
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} |
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