src/main/flight/gps_rescue_wing.c

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Betaflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdlib.h>
  20 #include <math.h>
  21
  22 #include "platform.h"
  23
  24 #ifdef USE_WING
  25 #ifdef USE_GPS_RESCUE
  26
  27 #include "build/debug.h"
  28
  29 #include "common/axis.h"
  30 #include "common/filter.h"
  31 #include "common/maths.h"
  32 #include "common/utils.h"
  33
  34 #include "config/config.h"
  35 #include "drivers/time.h"
  36
  37 #include "fc/core.h"
  38 #include "fc/rc_controls.h"
  39 #include "fc/rc_modes.h"
  40 #include "fc/runtime_config.h"
  41
  42 #include "flight/autopilot.h"
  43 #include "flight/failsafe.h"
  44 #include "flight/imu.h"
  45 #include "flight/pid.h"
  46 #include "flight/position.h"
  47
  48 #include "io/gps.h"
  49 #include "rx/rx.h"
  50 #include "pg/autopilot.h"
  51 #include "sensors/acceleration.h"
  52
  53 #include "gps_rescue.h"
  54
  55 float gpsRescueAngle[RP_AXIS_COUNT] = { 0, 0 };
  56
  57 void gpsRescueInit(void)
  58 {
  59 }
  60
  61 void gpsRescueUpdate(void)
  62 // runs at gpsRescueTaskIntervalSeconds, and runs whether or not rescue is active
  63 {
  64 }
  65
  66 float gpsRescueGetYawRate(void)
  67 {
  68     return 0.0f; // the control yaw value for rc.c to be used while flightMode gps_rescue is active.
  69 }
  70
  71 float gpsRescueGetImuYawCogGain(void)
  72 {
  73     return 1.0f;
  74 }
  75
  76 bool gpsRescueIsConfigured(void)
  77 {
  78     return false;
  79 }
  80
  81 bool gpsRescueIsAvailable(void)
  82 {
  83     return false;
  84 }
  85
  86 bool gpsRescueIsDisabled(void)
  87 {
  88     return true;
  89 }
  90
  91 #ifdef USE_MAG
  92 bool gpsRescueDisableMag(void)
  93 {
  94     return true;
  95 }
  96 #endif
  97
  98 #endif // USE_GPS_RESCUE
  99
 100 #endif // USE_WING