int main(void)
{
setSysClkTo_80MHz();
delayMS(500);
//compassComms = configCompass();
delayMS(500);
init_navigation(); //initialize navigation and all its children
delayMS(500);
//example of new push waypoint
//push_waypoint(413922923,1112123211);
//the numbers being pushed can be no greater than 4_294_967_296
activateAutoNavigation();
pauseAutoNavigation();
//robotMotors = initMotors();
//Compass = configCompass();
//initRangeSensor();
//nmea = parseNMEAString("$GPGGA,221359.00,4143.59341,N,11150.75754,W,1,05,19.0,01391,M,-016,M,,*55");
//posSouth = NMEAToGlobalPosition(nmea);
//nmea = parseNMEAString("$GPGGA,231359.00,4143.59341,N,11150.75754,W,1,05,19.0,01391,M,-016,M,,*55");
//posNorth = NMEAToGlobalPosition(nmea);
//calculateBearingAndDistance(posSouth, posNorth);
//println(getBearingAndDistanceString());
while(1)
{
//data = getBearingAndDistanceString();
}
}
void config_load(void)
{
load_settings();
load_gains();
init_yawCntrl();
init_rollCntrl();
init_pitchCntrl();
init_navigation();
init_airspeedCntrl();
init_altitudeCntrl();
init_altitudeCntrlVariable();
}
void init_config(void)
{
#if (USE_CONFIGFILE == 1)
load_settings();
load_config();
load_gains();
#endif // USE_CONFIGFILE
init_yawCntrl();
init_rollCntrl();
init_pitchCntrl();
init_navigation();
init_airspeedCntrl();
init_altitudeCntrl();
init_altitudeCntrlVariable();
}
