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ArduSub: fractional Loiter Turn Support 

Adds special storage handling for loiter turns. Fractional Loiter
Turns 0<N<1 are stored by multiplying the turn number by 256, then
dividing that number by 256 on retrieval.
This commit is contained in:
J.R. Bronkar 2024-01-12 15:14:20 +11:00 committed by Tom Pittenger
parent 2be84183b7
commit 6ffdfd9f48
1 changed files with 2 additions and 1 deletions
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3
ArduSub/commands_logic.cpp
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@ -539,9 +539,10 @@ bool Sub::verify_circle(const AP_Mission::Mission_Command& cmd)
}
return false;
}
const float turns = cmd.get_loiter_turns();
// check if we have completed circling
return fabsf(sub.circle_nav.get_angle_total()/M_2PI) >= LOWBYTE(cmd.p1);
return fabsf(sub.circle_nav.get_angle_total()/M_2PI) >= turns;
}
#if NAV_GUIDED == ENABLED