ArduCopter/navigation.cpp

   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 void Copter::run_nav_updates(void)
   7 {
   8     update_super_simple_bearing(false);
   9 }
  10
  11 // distance between vehicle and home in cm
  12 uint32_t Copter::home_distance()
  13 {
  14     if (position_ok()) {
  15         _home_distance = current_loc.get_distance(ahrs.get_home()) * 100;
  16     }
  17     return _home_distance;
  18 }
  19
  20 // The location of home in relation to the vehicle in centi-degrees
  21 int32_t Copter::home_bearing()
  22 {
  23     if (position_ok()) {
  24         _home_bearing = current_loc.get_bearing_to(ahrs.get_home());
  25     }
  26     return _home_bearing;
  27 }