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Navigatino - small bug fix in loiter controller in which the y_iterm was coming from the Lon controller instead of the lat controller. Found by Sylvain. http://www.diydrones.com/forum/topic/listForContributor?user=18fsncw0k1x6i

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This commit is contained in:
Randy Mackay 2011-12-09 22:13:37 +09:00
parent 5130a37a9e
commit 4dc2956ca9
1 changed files with 1 additions and 1 deletions
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ArduCopter/navigation.pde
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@ -64,7 +64,7 @@ static void calc_loiter(int x_error, int y_error)
int x_target_speed = g.pi_loiter_lon.get_p(x_error); int x_target_speed = g.pi_loiter_lon.get_p(x_error);
int y_target_speed = g.pi_loiter_lat.get_p(y_error); int y_target_speed = g.pi_loiter_lat.get_p(y_error);
int x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav); int x_iterm = g.pi_loiter_lon.get_i(x_error, dTnav);
int y_iterm = g.pi_loiter_lon.get_i(y_error, dTnav); int y_iterm = g.pi_loiter_lat.get_i(y_error, dTnav);
// find the rates: // find the rates:
float temp = g_gps->ground_course * RADX100; float temp = g_gps->ground_course * RADX100;