| 489,7 → 489,7 |
|---|
| if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA)) |
| { |
| GPS_pWaypointOld = GPS_pWaypoint; |
| } |
| } |
| // if WP has been reached once, wait hold time before trigger to next one |
| if(NCFlags & NC_FLAG_TARGET_REACHED) |
| { |
| 511,7 → 511,7 |
|---|
| // update the hold position |
| GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); |
| GPS_pTargetPosition = &(GPS_pWaypoint->Position); |
| GPS_TargetRadius = (u32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
| GPS_TargetRadius = (u32)(GPS_pWaypoint->ToleranceRadius) * 100L; |
| |
| } |
| else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached |
| 604,9 → 604,9 |
|---|
| // calculate deviation of current position to ranged target position in cm |
| if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation)) |
| { // set target reached flag of we once reached the target point |
| if(!(NCFlags |= NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
| if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius)) |
| { |
| NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
| NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag |
| } |
| // implement your control code here based |
| // in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading |