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ACM: Switched to filtered loc

This commit is contained in:
Jason Short 2012-08-14 14:08:33 -07:00
parent 5d64942f01
commit 2cc27b9804
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/navigation.pde
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@ -7,8 +7,8 @@ static void navigate()
{
// waypoint distance from plane in cm
// ---------------------------------------
wp_distance = get_distance_cm(&current_loc, &next_WP);
home_distance = get_distance_cm(&current_loc, &home);
wp_distance = get_distance_cm(&filtered_loc, &next_WP);
home_distance = get_distance_cm(&filtered_loc, &home);
// target_bearing is where we should be heading
// --------------------------------------------
@ -60,11 +60,11 @@ static void calc_XY_velocity(){
#if INERTIAL_NAV == ENABLED
// inertial_nav
xy_error_correction();
current_loc.lng = xLeadFilter.get_position(g_gps->longitude, accels_velocity.x);
current_loc.lat = yLeadFilter.get_position(g_gps->latitude, accels_velocity.y);
filtered_loc.lng = xLeadFilter.get_position(g_gps->longitude, accels_velocity.x);
filtered_loc.lat = yLeadFilter.get_position(g_gps->latitude, accels_velocity.y);
#else
current_loc.lng = xLeadFilter.get_position(g_gps->longitude, x_actual_speed);
current_loc.lat = yLeadFilter.get_position(g_gps->latitude, y_actual_speed);
filtered_loc.lng = xLeadFilter.get_position(g_gps->longitude, x_actual_speed);
filtered_loc.lat = yLeadFilter.get_position(g_gps->latitude, y_actual_speed);
#endif
}