bool_t gls_init(uint8_t _af, uint8_t _tod, uint8_t _td) {
init = TRUE;
#if USE_AIRSPEED
//float wind_additional = sqrt(wind_east*wind_east + wind_north*wind_north); // should be gusts only!
//Bound(wind_additional, 0, 0.5);
//target_speed = FL_ENVE_V_S * 1.3 + wind_additional; FIXME
target_speed = APP_TARGET_SPEED; // ok for now!
#endif
app_angle = APP_ANGLE;
app_intercept_af_tod = APP_INTERCEPT_AF_TOD;
Bound(app_intercept_af_tod,0,200);
gls_compute_TOD(_af, _tod, _td); // calculate Top Of Decent
return FALSE;
} /* end of gls_init() */
bool_t gls_start(uint8_t _af,uint8_t _sd, uint8_t _tod, uint8_t _td) {
init = TRUE;
//struct FloatVect2* wind = stateGetHorizontalWindspeed_f();
//float wind_additional = sqrt(wind->x*wind->x + wind->y*wind->y); // should be gusts only!
//Bound(wind_additional, 0, 0.5);
//target_speed = STALL_AIRSPEED * 1.3 + wind_additional; FIXME
target_speed = APP_TARGET_SPEED; // ok for now!
app_angle = APP_ANGLE;
app_intercept_rate = APP_INTERCEPT_RATE;
app_intercept_rate = ABS(app_intercept_rate);
app_distance_af_sd = APP_DISTANCE_AF_SD;
Bound(app_distance_af_sd,0,200);
// calculate Top Of Decent
gls_compute_TOD(_af, _sd, _tod, _td);
return FALSE;
} /* end of gls_init() */
