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146 | static int32_t cos_target_latitude = 1; |
146 | static int32_t cos_target_latitude = 1; |
147 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
147 | static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
148 | static GPS_Pos_t *pLastTargetPos = 0; |
148 | static GPS_Pos_t *pLastTargetPos = 0; |
Line 149... | Line 149... | ||
149 | 149 | ||
150 | // if GPS data and Compass are ok |
150 | // if GPS data and Compass are ok |
151 | if (GPS_isSignalOK() && (compassHeading >= 0)) { |
151 | if (GPS_isSignalOK() && (magneticHeading >= 0)) { |
152 | if (pTargetPos != NULL) // if there is a target position |
152 | if (pTargetPos != NULL) // if there is a target position |
153 | { |
153 | { |
154 | if (pTargetPos->status != INVALID) // and the position data are valid |
154 | if (pTargetPos->status != INVALID) // and the position data are valid |
155 | { |
155 | { |