Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #include "AP_WindVane_config.h"
      17             : 
      18             : #if AP_WINDVANE_HOME_ENABLED
      19             : 
      20             : #include "AP_WindVane_Home.h"
      21             : 
      22             : #include <AP_AHRS/AP_AHRS.h>
      23             : 
      24           0 : void AP_WindVane_Home::update_direction()
      25             : {
      26           0 :     float direction_apparent_ef = _frontend._home_heading;
      27             : 
      28           0 :     if (_frontend._direction_type == _frontend.WINDVANE_PWM_PIN) {
      29           0 :         RC_Channel *chan = rc().find_channel_for_option(RC_Channel::AUX_FUNC::WIND_VANE_DIR_OFSSET);
      30           0 :         if (chan != nullptr) {
      31           0 :             direction_apparent_ef += chan->norm_input() * radians(45);
      32             :         }
      33             :     }
      34             : 
      35           0 :     _frontend._direction_apparent_raw = wrap_PI(direction_apparent_ef - AP::ahrs().get_yaw_rad());
      36           0 : }
      37             : 
      38             : #endif  // AP_WINDVANE_HOME_ENABLED