Line data    Source code

       1             : #include "Copter.h"
       2             : 
       3             : // run_nav_updates - top level call for the autopilot
       4             : // ensures calculations such as "distance to waypoint" are calculated before autopilot makes decisions
       5             : // To-Do - rename and move this function to make it's purpose more clear
       6     3800955 : void Copter::run_nav_updates(void)
       7             : {
       8     3800955 :     update_super_simple_bearing(false);
       9     3800955 : }
      10             : 
      11             : // distance between vehicle and home in m
      12           0 : float Copter::home_distance_m()
      13             : {
      14           0 :     if (position_ok()) {
      15           0 :         _home_distance_m = current_loc.get_distance(ahrs.get_home());
      16             :     }
      17           0 :     return _home_distance_m;
      18             : }
      19             : 
      20             : // The location of home in relation to the vehicle in centi-degrees
      21           0 : float Copter::home_bearing_rad()
      22             : {
      23           0 :     if (position_ok()) {
      24           0 :         _home_bearing_rad = current_loc.get_bearing(ahrs.get_home());
      25             :     }
      26           0 :     return _home_bearing_rad;
      27             : }