Navigation oval pullreq #1568
Navigation oval pullreq #1568
Conversation
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Nice! |
| @@ -148,11 +148,16 @@ static void send_wp_moved(struct transport_tx *trans, struct link_device *dev) | |||
| static uint8_t i; | |||
| i++; | |||
| if (i >= nb_waypoint) { i = 0; } | |||
| struct EnuCoor_i wp_i; | |||
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What's up with those changes?
They don't seem to change anything functionally, just add some extra copying...
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That's an artefact of the project I am actually working on, wherefore I needed to increase INT32_POS_FRAC. Then, this was to ensure the telemetry precision was still 8 bits as defined in messages.xml.
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I understand why you have that, but I don't think it should appear in master. Would be nice if you remove it for now, and eventually add it back if you decide to make a pull request for the code that is actually using this.
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@tcunis Nice, if a bit more discussed what would be the best way to add with PPRZ team, and in Lab... so almost there to merge 👍 |
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I have included the changes as discussed so far (line-start / -stop, removed un-related macros etc.). |
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@gautierhattenberger you can merge it if it looks good to you... |
So far, oval navigation as described in the wiki has been implemented for fixed-wing only. I have adapted the fixed-wing implementation and ported to rotorcraft as well. Unlike fixed-wing, the rotorcraft implementation uses binary fixed-point representation rather than floats.