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renamed original_target_bearing

This commit is contained in:
Jason Short 2011-11-09 23:04:04 -08:00
parent 7df7dbe883
commit 289d54038f
1 changed files with 1 additions and 1 deletions
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ArduCopter/navigation.pde
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@ -207,7 +207,7 @@ void update_crosstrack(void)
// Crosstrack Error // Crosstrack Error
// ---------------- // ----------------
if (cross_track_test() < 5000) { // If we are too far off or too close we don't do track following 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); crosstrack_error = constrain(crosstrack_error * 4, -1200, 1200);
} }
} }