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AP_Proximity: fix morse sector calc

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This commit is contained in:
Randy Mackay 2018-12-10 14:10:07 +09:00
parent f7f50d84c9
commit 12d6799aaa
1 changed files with 1 additions and 1 deletions
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libraries/AP_Proximity/AP_Proximity_MorseSITL.cpp
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@ -64,7 +64,7 @@ void AP_Proximity_MorseSITL::update(void)
} }
float angle_deg = wrap_360(degrees(atan2f(-point.y, point.x))); float angle_deg = wrap_360(degrees(atan2f(-point.y, point.x)));
uint16_t angle_rounded = uint16_t(angle_deg+0.5); uint16_t angle_rounded = uint16_t(angle_deg+0.5);
uint8_t sector = angle_rounded / degrees_per_sector; uint8_t sector = wrap_360(angle_rounded + 22.5f) / degrees_per_sector;
if (!_distance_valid[sector] || range < _distance[sector]) { if (!_distance_valid[sector] || range < _distance[sector]) {
_distance_valid[sector] = true; _distance_valid[sector] = true;
_distance[sector] = range; _distance[sector] = range;