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

Add navigationGetHomeHeading()

Browse source 
Returns the heading for the home point, as recorded when home was
stored. Note that it won't work properly on FW without a mag yet,
since we'll need to adjust the value after we acquire a valid
heading.
This commit is contained in:
Alberto García Hierro 2018-05-07 08:35:50 +01:00
parent f8f31f3d33
commit daec1b9aff
2 changed files with 13 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

6
src/main/navigation/navigation.c
View file

@ -2713,6 +2713,12 @@ bool isNavLaunchEnabled(void)
{ {
return IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH); return IS_RC_MODE_ACTIVE(BOXNAVLAUNCH) || feature(FEATURE_FW_LAUNCH);
} }
int32_t navigationGetHomeHeading(void)
{
return posControl.homePosition.yaw;
}
#else // NAV #else // NAV
#ifdef USE_GPS #ifdef USE_GPS

7
src/main/navigation/navigation.h
View file

@ -320,6 +320,12 @@ bool navigationRTHAllowsLanding(void);
bool isNavLaunchEnabled(void); bool isNavLaunchEnabled(void);
/* Returns the heading recorded when home position was acquired.
* Note that the navigation system uses deg*100 as unit and angles
* are in the [0, 360 * 100) interval.
*/
int32_t navigationGetHomeHeading(void);
/* Compatibility data */ /* Compatibility data */
extern navSystemStatus_t NAV_Status; extern navSystemStatus_t NAV_Status;
@ -343,5 +349,6 @@ extern int16_t navAccNEU[3];
#define getEstimatedActualVelocity(axis) (0) #define getEstimatedActualVelocity(axis) (0)
#define navigationIsControllingThrottle() (0) #define navigationIsControllingThrottle() (0)
#define navigationRTHAllowsLanding() (0) #define navigationRTHAllowsLanding() (0)
#define navigationGetHomeHeading(0)
#endif #endif