From 3cb1f6b19744fb17eef9971f9d5899ba9403d254 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Wed, 9 Nov 2011 22:56:38 -0800 Subject: [PATCH] crosstrack angle variable --- ArduCopter/ArduCopter.pde | 1 + 1 file changed, 1 insertion(+) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 38bab85f39..3784c00eaa 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -406,6 +406,7 @@ static int32_t auto_yaw; // deg * 100 : target yaw angle static int32_t nav_lat; // for error calcs static int32_t nav_lon; // for error calcs static int16_t nav_throttle; // 0-1000 for throttle control +static int16_t crosstrack_error; static uint32_t throttle_integrator; // used to integrate throttle output to predict battery life static bool invalid_throttle; // used to control when we calculate nav_throttle