/**
main antenna tracking code, called at 50Hz
*/
void Tracker::update_tracking(void)
{
// update vehicle position estimate
update_vehicle_pos_estimate();
// update antenna tracker position from GPS
update_tracker_position();
// update bearing and distance to vehicle
update_bearing_and_distance();
// do not perform any servo updates until startup delay has passed
if (g.startup_delay > 0 &&
AP_HAL::millis() - start_time_ms < g.startup_delay*1000) {
return;
}
// do not perform updates if safety switch is disarmed (i.e. servos can't be moved)
if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
return;
}
switch (control_mode) {
case AUTO:
update_auto();
break;
case MANUAL:
update_manual();
break;
case SCAN:
update_scan();
break;
case SERVO_TEST:
case STOP:
case INITIALISING:
break;
}
}
void
Sprite2DView::update(float delta, const Controller& controller)
{
if (ignore_delta)
{
ignore_delta = false;
delta = 0.0f;
}
display_time += delta * 0.5f;
switch(mode) {
case SLIDESHOW:
update_slideshow(delta, controller);
break;
case MANUAL:
update_manual(delta, controller);
break;
}
if (controller.button_was_pressed(PDA_BUTTON))
{
if (shuffle)
{
std::vector<Pathname>::iterator i = std::find(directory.begin(), directory.end(),
shuffle_directory[index]);
if (i != directory.end())
{
index = i - directory.begin() ;
}
}
else
{
std::vector<Pathname>::iterator i = std::find(shuffle_directory.begin(), shuffle_directory.end(),
directory[index]);
if (i != shuffle_directory.end())
{
index = i - shuffle_directory.begin();
}
}
shuffle = !shuffle;
std::cout << shuffle << " " << index << std::endl;
}
// if (controller.button_was_pressed(INVENTORY_BUTTON))
//std::random_shuffle(shuffle_directory.begin(), shuffle_directory.end());
if (controller.button_was_pressed(TERTIARY_BUTTON))
show_thumbnail = !show_thumbnail;
if (controller.button_was_pressed(AIM_BUTTON))
{
if (mode == SLIDESHOW) mode = MANUAL;
else if (mode == MANUAL) mode = SLIDESHOW;
}
if (new_sprite)
{
fadein += delta;
if (fadein > 1.0f)
{
sprite = new_sprite;
sprite.set_alpha(1.0f);
new_sprite = Sprite();
offset = 0;
display_time = 0;
}
else
{
new_sprite.set_alpha(fadein);
}
}
}
