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change some things, because azimuth is now

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by default a signed value
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kleiax
2023-08-07 21:41:03 +02:00
parent 47a6e770fe
commit d6bc7e4239
4 changed files with 7 additions and 8 deletions
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include/Version.h
+2 -2
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@@ -1,9 +1,9 @@
// AUTO GENERATED FILE, DO NOT EDIT // AUTO GENERATED FILE, DO NOT EDIT
#ifndef VERSION #ifndef VERSION
#define VERSION "0.1.5" #define VERSION "0.1.7"
#endif #endif
#ifndef BUILD_TIMESTAMP #ifndef BUILD_TIMESTAMP
#define BUILD_TIMESTAMP "2023-08-07 20:54:44.940398" #define BUILD_TIMESTAMP "2023-08-07 21:22:27.260906"
#endif #endif
lib/Navigation/navigation.cpp
+1 -3
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@@ -192,9 +192,7 @@ void Navigation::updateCurrentLocation() {
int16_t Navigation::calculateCourseCorrection(Point& point) { int16_t Navigation::calculateCourseCorrection(Point& point) {
int16_t targetCourse = point.courseTo(this->targetPoint); int16_t targetCourse = point.courseTo(this->targetPoint);
// correction = targetCourse - currentCourse int16_t correctionCourse = targetCourse - this->azimuth;
int16_t signedAzimuth = this->azimuth > 180 ? this->azimuth - 360 : this->azimuth;
int16_t correctionCourse = targetCourse - signedAzimuth;
if (correctionCourse > 180) if (correctionCourse > 180)
correctionCourse -= 360; correctionCourse -= 360;
else if (correctionCourse < -180) else if (correctionCourse < -180)
lib/Navigation/navigation.h
+3 -2
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@@ -182,7 +182,7 @@ class Navigation {
* *
* @return uint16_t degree * @return uint16_t degree
*/ */
uint16_t getAzimuth() const { return this->azimuth; } int16_t getAzimuth() const { return this->azimuth; }
QMC5883LCompass* getCompass() const { return this->compass; } QMC5883LCompass* getCompass() const { return this->compass; }
Point::Accuracy getMinAccuracy() const { return this->minAccuracy; } Point::Accuracy getMinAccuracy() const { return this->minAccuracy; }
@@ -244,9 +244,10 @@ class Navigation {
char* user; char* user;
char* password; char* password;
int16_t azimuth = INT16_MAX;
uint8_t timeToWait = 200; uint8_t timeToWait = 200;
uint16_t port; uint16_t port;
uint16_t azimuth = UINT16_MAX;
uint32_t lastMillis = 0; uint32_t lastMillis = 0;
uint32_t ubxUpdateTime = 0; uint32_t ubxUpdateTime = 0;
version
+1 -1
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@@ -1 +1 @@
0.1.5 0.1.7