Subversion Repositories FlightCtrl

#include <inttypes.h>
#include "controlMixer.h"
#include "attitude.h"
#include <stdlib.h>

// The only possibility in a compass control is to aim the head at some compass heading.
// One way could be: When a switch is turned on, we capture the current heading in a variable.
// From then on, if the current heading is to the right of the captured heading, we yaw left etc.
// If the yaw at input is nonzero, we could also temporarily disable this and instead re-capture
// the current heading..

int32_t magneticTargetHeading;

void CC_periodicTaskAndPRTY(int16_t* PRTY) {
  int16_t currentYaw = PRTY[CONTROL_YAW];
  if (abs(currentYaw) < 10) {
    magneticTargetHeading = magneticHeading;
  }
}