From 289d54038f412e21c78c8ba86655f5125447bf30 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Wed, 9 Nov 2011 23:04:04 -0800 Subject: [PATCH] renamed original_target_bearing --- ArduCopter/navigation.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde index 6f07310dfe..dc44108778 100644 --- a/ArduCopter/navigation.pde +++ b/ArduCopter/navigation.pde @@ -207,7 +207,7 @@ void update_crosstrack(void) // Crosstrack Error // ---------------- if (cross_track_test() < 5000) { // If we are too far off or too close we don't do track following - crosstrack_error = sin(radians((target_bearing - crosstrack_bearing) / 100)) * wp_distance; // Meters we are off track line + crosstrack_error = sin(radians((target_bearing - original_target_bearing) / 100)) * wp_distance; // Meters we are off track line crosstrack_error = constrain(crosstrack_error * 4, -1200, 1200); } }