From 70371be4a1bf3a1f696cfc63af2e379ae30bd936 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sun, 27 Jan 2013 23:35:12 +0900
Subject: [PATCH] Copter: use AP_Math's longitude_scale

bug fix to base scaling on home location instead of next_WP which may
not have been initialised
---
 ArduCopter/commands.pde | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index b30159f864..fbb5b6a0ae 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -188,9 +188,8 @@ static void init_home()
         Log_Write_Cmd(0, &home);
 
     // update navigation scalers.  used to offset the shrinking longitude as we go towards the poles
-    float rads              = (fabsf((float)next_WP.lat)/t7) * 0.0174532925f;
-    scaleLongDown           = cosf(rads);
-    scaleLongUp             = 1.0f/cosf(rads);
+    scaleLongDown = longitude_scale(&home);
+    scaleLongUp   = 1.0f/scaleLongDown;
 
     // Save prev loc this makes the calcs look better before commands are loaded
     prev_WP = home;