| /trunk/main.c |
|---|
| 614,13 → 614,15 |
| { |
| if(FromFC_LoadWP_List & 0x80)// -> load relative |
| { |
| u32 angle; |
| angle = (360 + GyroCompassCorrected/10 + Parameter.OrientationAngle * 15) % 360; |
| if(NCFlags & NC_FLAG_FREE || NaviData.TargetPositionDeviation.Distance > 7*10) |
| { // take actual position |
| if(!PointList_Move(1,&(GPSData.Position),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
| if(!PointList_Move(1,&(GPSData.Position),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
| } |
| else |
| { // take last target position |
| if(!PointList_Move(1, &(NaviData.TargetPosition),NaviData.CompassHeading)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
| if(!PointList_Move(1, &(NaviData.TargetPosition),angle)) PointList_Clear(); // try to move wp-list so that 1st entry matches the current position |
| } |
| } |
| if(FC.StatusFlags & FC_STATUS_FLY) PointList_WPActive(TRUE); |
| /trunk/main.h |
|---|
| 14,7 → 14,7 |
| #define VERSION_MAJOR 2 |
| #define VERSION_MINOR 6 |
| #define VERSION_PATCH 1 |
| #define VERSION_PATCH 2 |
| // 0 = A |
| // 1 = B |
| // 2 = C |
| /trunk/spi_slave.c |
|---|
| 355,7 → 355,7 |
| ToFlightCtrl.Param.Byte[7] = GPS_Aid_StickMultiplikator; |
| if(CAM_Orientation.UpdateMask & CAM_UPDATE_AZIMUTH) |
| { |
| if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + 720 - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10)) % 360; // the FC uses the uncorrected comnpass value |
| if(CAM_Orientation.Azimuth != -1) ToFlightCtrl.Param.sInt[4] = (CAM_Orientation.Azimuth + (3*360) - (FC.FromFC_CompassOffset / 10 + GeoMagDec/10 + Parameter.OrientationAngle * 15)) % 360; // the FC uses the uncorrected comnpass value |
| else CAM_Orientation.Azimuth = -1; |
| CAM_Orientation.UpdateMask &= ~CAM_UPDATE_AZIMUTH; |
| } |
| /trunk/waypoints.c |
|---|
| 665,7 → 665,7 |
| if(value[len-1] == '\r') |
| { |
| value[len-1] = 0; |
| len--; |
| // len--; |
| } |
| } |
| if(len > listnamelen) len = listnamelen; |
| 769,7 → 769,7 |
| GPSPos_Copy(&GPSData.Position, &(WP.Position)); |
| // set heading |
| WP.Heading = CompassSetpointCorrected/10; |
| WP.Heading = CompassSetpointCorrected/10 + Parameter.OrientationAngle * 15; |
| if(WP.Heading == 0) WP.Heading = 360; |
| WP.ToleranceRadius = 120; // 12m |
| WP.HoldTime = 2; |