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APM_Control: wrap_180_cd no longer solely returns floats

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Peter Barker 2019-09-09 18:50:34 +10:00 committed by Andrew Tridgell
parent 47fa4a3bf8
commit 7c2c809b06
1 changed files with 1 additions and 1 deletions
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2
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -601,7 +601,7 @@ bool AR_AttitudeControl::get_forward_speed(float &speed) const
if (!_ahrs.get_velocity_NED(velocity)) {
// use less accurate GPS, assuming entire length is along forward/back axis of vehicle
if (AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D) {
if (fabsf(wrap_180_cd(_ahrs.yaw_sensor - AP::gps().ground_course_cd())) <= 9000) {
if (abs(wrap_180_cd(_ahrs.yaw_sensor - AP::gps().ground_course_cd())) <= 9000) {
speed = AP::gps().ground_speed();
} else {
speed = -AP::gps().ground_speed();