Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-21 15:25:29 +03:00
Code Issues Wiki Activity

offsetHome

Browse source
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
Download patch file Download diff file Expand all files Collapse all files

10
src/main/navigation/navigation.c
View file

@ -2241,11 +2241,11 @@ void updateHomePosition(void)
} }
if (setHome) { if (setHome) {
if (navConfig()->general.rth_home_offset_distance != 0) { // apply user defined offset if (navConfig()->general.rth_home_offset_distance != 0) { // apply user defined offset
fpVector3_t newHome; fpVector3_t offsetHome;
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)); 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));
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)); 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));
newHome.z = posControl.actualState.abs.pos.z; offsetHome.z = posControl.actualState.abs.pos.z;
setHomePosition(&newHome, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity()); setHomePosition(&offsetHome, 0, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
} else { } else {
setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity()); setHomePosition(&posControl.actualState.abs.pos, posControl.actualState.yaw, NAV_POS_UPDATE_XY | NAV_POS_UPDATE_Z | NAV_POS_UPDATE_HEADING, navigationActualStateHomeValidity());
} }