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Tweak to make circle mode scripting more accurate

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Jason Short 2012-01-14 11:21:50 -08:00
parent 89343ae306
commit 72faa6525e
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/commands_logic.pde
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@ -290,7 +290,7 @@ static void do_loiter_turns()
wp_control = CIRCLE_MODE; wp_control = CIRCLE_MODE;
// reset desired location // reset desired location
circle_angle = 0;
if(command_nav_queue.lat == 0){ if(command_nav_queue.lat == 0){
// allow user to specify just the altitude // allow user to specify just the altitude
@ -305,6 +305,10 @@ static void do_loiter_turns()
loiter_total = command_nav_queue.p1 * 360; loiter_total = command_nav_queue.p1 * 360;
loiter_sum = 0; loiter_sum = 0;
old_target_bearing = target_bearing; old_target_bearing = target_bearing;
circle_angle = target_bearing + 18000;
circle_angle = wrap_360(circle_angle);
circle_angle *= RADX100;
} }
static void do_loiter_time() static void do_loiter_time()