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AP_Follow: fix initialisation of offsets

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Randy Mackay 2018-07-14 15:42:04 +09:00
parent 0834e7ae9b
commit 465564ba99
2 changed files with 3 additions and 3 deletions
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4
libraries/AP_Follow/AP_Follow.cpp
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@ -329,11 +329,11 @@ bool AP_Follow::get_velocity_ned(Vector3f &vel_ned, float dt) const
return true; return true;
} }
// initialise offsets to provided distance vector (in meters in NED frame) if required // initialise offsets to provided distance vector to other vehicle (in meters in NED frame) if required
void AP_Follow::init_offsets_if_required(const Vector3f &dist_vec_ned) void AP_Follow::init_offsets_if_required(const Vector3f &dist_vec_ned)
{ {
if (_offset.get().is_zero()) { if (_offset.get().is_zero()) {
_offset = dist_vec_ned; _offset = -dist_vec_ned;
} }
} }

2
libraries/AP_Follow/AP_Follow.h
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@ -81,7 +81,7 @@ private:
// get velocity estimate in m/s in NED frame using dt since last update // get velocity estimate in m/s in NED frame using dt since last update
bool get_velocity_ned(Vector3f &vel_ned, float dt) const; bool get_velocity_ned(Vector3f &vel_ned, float dt) const;
// initialise offsets to provided distance vector (in meters in NED frame) if required // initialise offsets to provided distance vector to other vehicle (in meters in NED frame) if required
void init_offsets_if_required(const Vector3f &dist_vec_ned); void init_offsets_if_required(const Vector3f &dist_vec_ned);
// get offsets in meters in NED frame // get offsets in meters in NED frame