ok was able to code in a non-precision navigation. No matter whether you're using non-precision or precision navigation at just a little over the half way point to the next waypoint a course change command will be issued to ensure the sub is on course to the next waypoint. If using non-precision navigation that's the only course change you'll see until the next waypoint. If using precision navigation then if the course error between sub's course and waypoint is > 2 degrees then a course change will be issued. If using non-precision navigation then at 100m before the waypoint the next course change command will be issued. If using precision navigation then at 50m before the next waypoint the next couse change command will be given.
You define precision or non-precision navigation in the waypoints (parameter 7) and the message for that waypoint has moved to parameter 8
Patch 3 will be available here very soon....
|