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| Rev 2039 | Rev 2042 | ||
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| Line 146... | Line 146... | ||
| 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 | { |