//------------------------------------------------------------------------------
// updateData() -- update Non-time critical stuff here
//------------------------------------------------------------------------------
void Navigation::updateData(const LCreal dt)
{
// ---
// Update our position, attitude and velocities
// ---
if (getOwnship() != 0) {
velValid = updateSysVelocity();
posValid = updateSysPosition();
attValid = updateSysAttitude();
magVarValid = updateMagVar();
}
else {
posValid = false;
attValid = false;
velValid = false;
magVarValid = false;
}
// ---
// Update the BaseClass and our primary route
// ---
BaseClass::updateData(dt);
if (priRoute != 0) priRoute->updateData(dt);
// Update our bullseye
if (bull != 0) bull->compute(this);
// ---
// Update our navigational steering data
// ---
updateNavSteering();
}
//------------------------------------------------------------------------------
// Process phase
//------------------------------------------------------------------------------
void Navigation::process(const LCreal dt)
{
BaseClass::process(dt);
// ---
// Update our position, attitude and velocities
// ---
if (getOwnship() != 0) {
velValid = updateSysVelocity();
posValid = updateSysPosition();
attValid = updateSysAttitude();
magVarValid = updateMagVar();
}
else {
posValid = false;
attValid = false;
velValid = false;
magVarValid = false;
}
// Update UTC
double v = utc + dt;
if (v >= Basic::Time::D2S) v = (v - Basic::Time::D2S);
setUTC(v);
// ---
// Update our primary route
// ---
if (priRoute != 0) priRoute->tcFrame(dt);
// Update our bullseye
if (bull != 0) bull->compute(this);
// ---
// Update our navigational steering data
// ---
updateNavSteering();
}