Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-10 18:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

scaling width of circle mode to make it more round.

Browse Source
This commit is contained in:
Jason Short 2011-11-13 23:09:42 -08:00
parent 687d0eda98
commit 2ad1294514
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/ArduCopter.pde
View File

@ -1456,7 +1456,7 @@ static void update_nav_wp()
if (circle_angle > 6.28318531)
circle_angle -= 6.28318531;
target_WP.lng = next_WP.lng + (g.loiter_radius * cos(1.57 - circle_angle));
target_WP.lng = next_WP.lng + (g.loiter_radius * cos(1.57 - circle_angle) * scaleLongUp);
target_WP.lat = next_WP.lat + (g.loiter_radius * sin(1.57 - circle_angle));
// calc the lat and long error to the target