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offsetHome

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This commit is contained in:
Jonathan Hudson 2019-11-21 20:56:22 +00:00
parent 41b2d112b8
commit 7f5288ed0a
1 changed files with 5 additions and 5 deletions
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10
src/main/navigation/navigation.c
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@ -2241,11 +2241,11 @@ void updateHomePosition(void)
}
if (setHome) {
if (navConfig()->general.rth_home_offset_distance != 0) { // apply user defined offset
fpVector3_t newHome;
newHome.x = posControl.actualState.abs.pos.x + 100 * navConfig()->general.rth_home_offset_distance * cos_approx(DEGREES_TO_RADIANS(navConfig()->general.rth_home_offset_direction));
newHome.y = posControl.actualState.abs.pos.y + 100 * navConfig()->general.rth_home_offset_distance * sin_approx(DEGREES_TO_RADIANS(navConfig()->general.rth_home_offset_direction));
newHome.z = posControl.actualState.abs.pos.z;
setHomePosition(&newHome, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
fpVector3_t offsetHome;
offsetHome.x = posControl.actualState.abs.pos.x + 100 * navConfig()->general.rth_home_offset_distance * cos_approx(DEGREES_TO_RADIANS(navConfig()->general.rth_home_offset_direction));
offsetHome.y = posControl.actualState.abs.pos.y + 100 * navConfig()->general.rth_home_offset_distance * sin_approx(DEGREES_TO_RADIANS(navConfig()->general.rth_home_offset_direction));
offsetHome.z = posControl.actualState.abs.pos.z;
setHomePosition(&offsetHome, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
} else {
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
}