mirror of https://github.com/ArduPilot/ardupilot
ACM: Switched to filtered_loc for distance calcs
This commit is contained in:
parent
cbd4661b96
commit
5d64942f01
|
@ -139,7 +139,7 @@ static void set_next_WP(struct Location *wp)
|
|||
if (next_WP.lat == 0 || command_nav_index <= 1){
|
||||
prev_WP = current_loc;
|
||||
}else{
|
||||
if (get_distance_cm(¤t_loc, &next_WP) < 500)
|
||||
if (get_distance_cm(&filtered_loc, &next_WP) < 500)
|
||||
prev_WP = next_WP;
|
||||
else
|
||||
prev_WP = current_loc;
|
||||
|
@ -167,7 +167,7 @@ static void set_next_WP(struct Location *wp)
|
|||
|
||||
// this is handy for the groundstation
|
||||
// -----------------------------------
|
||||
wp_distance = get_distance_cm(¤t_loc, &next_WP);
|
||||
wp_distance = get_distance_cm(&filtered_loc, &next_WP);
|
||||
target_bearing = get_bearing_cd(&prev_WP, &next_WP);
|
||||
|
||||
// calc the location error:
|
||||
|
|
Loading…
Reference in New Issue