| 0,0 → 1,19 |
|---|
| #include <inttypes.h> |
| #include "controlMixer.h" |
| #include "attitude.h" |
| #include <stdlib.h> |
| |
| // The only possibility in a compass control is to aim the head at some compass heading. |
| // One way could be: When a switch is turned on, we capture the current heading in a variable. |
| // From then on, if the current heading is to the right of the captured heading, we yaw left etc. |
| // If the yaw at input is nonzero, we could also temporarily disable this and instead re-capture |
| // the current heading.. |
| |
| int32_t magneticTargetHeading; |
| |
| void CC_periodicTaskAndPRTY(int16_t* PRTY) { |
| int16_t currentYaw = PRTY[CONTROL_YAW]; |
| if (abs(currentYaw) < 10) { |
| magneticTargetHeading = magneticHeading; |
| } |
| } |