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navigation feature / reference removal

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This commit is contained in:
s0up 2018-05-09 10:28:36 -07:00
parent 3af1610d0b
commit de5fa47c4c
19 changed files with 1 additions and 724 deletions
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8
src/main/io/gps.c
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@ -76,7 +76,6 @@ static char *gpsPacketLogChar = gpsPacketLog;
int32_t GPS_home[2];
uint16_t GPS_distanceToHome; // distance to home point in meters
int16_t GPS_directionToHome; // direction to home or hol point in degrees
int16_t GPS_angle[ANGLE_INDEX_COUNT] = { 0, 0 }; // it's the angles that must be applied for GPS correction
float dTnav; // Delta Time in milliseconds for navigation computations, updated with every good GPS read
int16_t actual_speed[2] = { 0, 0 };
int16_t nav_takeoff_bearing;
@ -1213,9 +1212,6 @@ void GPS_reset_home_position(void)
GPS_home[LAT] = gpsSol.llh.lat;
GPS_home[LON] = gpsSol.llh.lon;
GPS_calc_longitude_scaling(gpsSol.llh.lat); // need an initial value for distance and bearing calc
#ifdef USE_NAV
nav_takeoff_bearing = DECIDEGREES_TO_DEGREES(attitude.values.yaw); // save takeoff heading
#endif
// Set ground altitude
ENABLE_STATE(GPS_FIX_HOME);
}
@ -1329,10 +1325,6 @@ void onGpsNewData(void)
GPS_calculateDistanceAndDirectionToHome();
// calculate the current velocity based on gps coordinates continously to get a valid speed at the moment when we start navigating
GPS_calc_velocity();
#ifdef USE_NAV
navNewGpsData();
#endif
}
#endif