From 6f26ca6b6587167951116fc716bb0976dd1fbc7b Mon Sep 17 00:00:00 2001 From: Leonard Hall Date: Wed, 21 Jul 2021 10:07:33 +0930 Subject: [PATCH] WP_Nav: Return Crosstrack error --- libraries/AC_WPNav/AC_WPNav.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h index 504dfacc05..f89a396b47 100644 --- a/libraries/AC_WPNav/AC_WPNav.h +++ b/libraries/AC_WPNav/AC_WPNav.h @@ -211,7 +211,7 @@ public: void update_track_with_speed_accel_limits(); /// return the crosstrack_error - horizontal error of the actual position vs the desired position - float crosstrack_error() const { return _track_error_xy;} + float crosstrack_error() const { return _pos_control.crosstrack_error();} static const struct AP_Param::GroupInfo var_info[];