Hey guys, this is my first post here. I hope that this has found its way into the right section. I am currently working on modifying version 2.73 of the ArduPlane software in order to mirror functionality of a higly modified 2.2 firmware. There is a function within this code that requires manually setting the target_bearing and the nav_bearing values. If i recall correctly, they used to be global parameters initialized in ArduPlane.pde.
Can anyone help me out in finding equivilent parameters (or even function calls) in the new version of Arduplane?
Thanks all in advanced,
Evan R. Johnson
They appear to have gone with the introduction of the new L1 navigation controller. However it should not be too hard to re-introduce a calculation of them for your purpose.
If you look in GCS_Mavlink.pde you will see
static void NOINLINE send_nav_controller_output(mavlink_channel_t chan)
nav_roll_cd * 0.01,
nav_pitch_cd * 0.01,
nav_controller->nav_bearing_cd() * 0.01f,
nav_controller->target_bearing_cd() * 0.01f,
altitude_error_cm * 0.01,
airspeed_error_cm * 0.01,
Those 2 might be what you are looking for?