Page 337 - 2

int32_t GPS_home[2];
int32_t GPS_hold[2];
int32_t GPS_prev[2]; //previous pos
int32_t GPS_poi[2];
uint8_t GPS_numSat;
uint16_t GPS_distanceToHome; // distance to home - unit: meter
int16_t GPS_directionToHome; // direction to home - unit: degree
int32_t GPS_directionToPoi;
uint16_t GPS_altitude; // GPS altitude - unit: meter
uint16_t GPS_speed; // GPS speed - unit: cm/s
uint8_t GPS_update = 0; // a binary toogle to distinct a GPS pos
ition update
uint16_t GPS_ground_course = 0; // - unit: degree*10

//uint8_t GPS_mode = GPS_MODE_NONE; // contains the current selected gps flight mode -
-> moved to the f. structure
uint8_t NAV_state = 0; // NAV_STATE_NONE; /// State of the nav engine
uint8_t NAV_error = 0; // NAV_ERROR_NONE;
uint8_t prv_gps_modes = 0; /// GPS_checkbox items packed into 1 byte for check
ing GPS mode changes
uint32_t nav_timer_stop = 0; /// common timer used in navigation (contains the desi
red stop time in millis()
uint16_t nav_hold_time; /// time in seconds to hold position
uint8_t NAV_paused_at = 0; // This contains the mission step where poshold paus
ed the runing mission.

uint8_t next_step = 1; /// The mission step which is upcoming it equals with
the mission_step stored in EEPROM
int16_t jump_times = -10;
#if GPS
mission_step_struct mission_step;
#endif

// The desired bank towards North (Positive) or South (Negative) : latitude
// The desired bank towards East (Positive) or West (Negative) : longitude
int16_t nav[2];
int16_t nav_rated[2]; //Adding a rate controller to the navigation to make it smoother

// The orginal altitude used as base our new altitude during nav
int32_t original_altitude;
//This is the target what we want to reach
int32_t target_altitude;
//This is the interim value which is feeded into the althold controller
int32_t alt_to_hold;

- 337 -