navigation.pde

The navigation.pde file includes functions used(for calculations) when moving to the desired destination.

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

//****************************************************************
// Function that will calculate the desired direction to fly and distance
//****************************************************************
static void navigate()
{
    // do not navigate with corrupt data
    // ---------------------------------
    if (!have_position) {
        return;
    }

...

This function, first of all, checks if the have_position exists and is uupdated.

    if ((next_WP.lat == 0)||(home_is_set==false)){
        return;
    }
...

Next, checks if the next waypoint is set, as well as the home.

    // waypoint distance from rover
    // ----------------------------
    wp_distance = get_distance(current_loc, next_WP);

    if (wp_distance < 0){
        gcs_send_text_P(SEVERITY_HIGH,PSTR("<navigate> WP error - distance < 0"));
        return;
    }
    ...

then the distance to the waypoint is calculated through get_distance.If this distance is under 0, the code gives an error, the rover has passed the wp.

    // control mode specific updates to nav_bearing
    // --------------------------------------------
    update_navigation();
}
...

Lastly, updates_navigation()function is called for updaiting the wp, and home datas.

void reached_waypoint()
{

}

This function is not implementes yet. Its aim is to notify when the wp is reached.