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initial build

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This commit is contained in:
breadoven 2023-08-03 21:33:53 +01:00
parent fd59159f71
commit 505b58f9f0
9 changed files with 216 additions and 176 deletions
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8
src/main/navigation/navigation_fixedwing.c
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@ -71,7 +71,6 @@ static bool isRollAdjustmentValid = false;
static bool isYawAdjustmentValid = false;
static float throttleSpeedAdjustment = 0;
static bool isAutoThrottleManuallyIncreased = false;
static int32_t navHeadingError;
static float navCrossTrackError;
static int8_t loiterDirYaw = 1;
bool needToCalculateCircularLoiter;
@ -440,7 +439,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
* Calculate NAV heading error
* Units are centidegrees
*/
navHeadingError = wrap_18000(virtualTargetBearing - posControl.actualState.cog);
int32_t navHeadingError = wrap_18000(virtualTargetBearing - posControl.actualState.cog);
// Forced turn direction
// If heading error is close to 180 deg we initiate forced turn and only disable it when heading error goes below 90 deg
@ -845,11 +844,6 @@ void applyFixedWingNavigationController(navigationFSMStateFlags_t navStateFlags,
}
}
int32_t navigationGetHeadingError(void)
{
return navHeadingError;
}
float navigationGetCrossTrackError(void)
{
return navCrossTrackError;