MK2.0，GPS导航的代码被屏蔽！
我仔细分析了Navi的代码，发现：/*#######################################################################################*/
// IMPORTANT NOTE:
// This is only a dummy implementation for errorfree compiling of the NaviCtrl sources.
// The GPS navigation routines are NOT included !
/*#######################################################################################*/
只有在0.15C中有部分代码，但是核心的部分被写成这样：
// calculate deviation of current position to ranged target position in cm
if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation))
{ // set target reached flag of we once reached the target point
if(!(NCFlags & NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius))
{
NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag
}
// implement your control code here based
// in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading
GPS_Stick.Nick = 0;
GPS_Stick.Roll = 0;
GPS_Stick.Yaw= 0;
}
else // deviation could not be calculated
{ // do nothing on gps sticks!
GPS_Neutral();
NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached
}
那么，也就是说，我们并不能完全看到他的所有程序。
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