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| Rev | Author | Line No. | Line |
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| 2048 | - | 1 | #include <inttypes.h> |
| 2 | #include "controlMixer.h" |
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| 3 | #include "attitude.h" |
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| 4 | #include <stdlib.h> |
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| 5 | |||
| 6 | // The only possibility in a compass control is to aim the head at some compass heading. |
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| 7 | // One way could be: When a switch is turned on, we capture the current heading in a variable. |
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| 8 | // From then on, if the current heading is to the right of the captured heading, we yaw left etc. |
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| 9 | // If the yaw at input is nonzero, we could also temporarily disable this and instead re-capture |
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| 10 | // the current heading.. |
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| 11 | |||
| 12 | int32_t magneticTargetHeading; |
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| 13 | |||
| 14 | void CC_periodicTaskAndPRTY(int16_t* PRTY) { |
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| 15 | int16_t currentYaw = PRTY[CONTROL_YAW]; |
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| 16 | if (abs(currentYaw) < 10) { |
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| 17 | magneticTargetHeading = magneticHeading; |
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| 18 | } |
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| 19 | } |