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Sub: auto integrates get-closest-point-on-edge dist

This commit is contained in:
Randy Mackay 2024-09-11 20:24:49 +09:00
parent 73dfeac547
commit 7c35f967d9
1 changed files with 2 additions and 2 deletions
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4
ArduSub/mode_auto.cpp
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@ -187,8 +187,8 @@ void ModeAuto::auto_circle_movetoedge_start(const Location &circle_center, float
// check our distance from edge of circle // check our distance from edge of circle
Vector3f circle_edge_neu; Vector3f circle_edge_neu;
sub.circle_nav.get_closest_point_on_circle(circle_edge_neu); float dist_to_edge;
float dist_to_edge = (inertial_nav.get_position_neu_cm() - circle_edge_neu).length(); sub.circle_nav.get_closest_point_on_circle(circle_edge_neu, dist_to_edge);
// if more than 3m then fly to edge // if more than 3m then fly to edge
if (dist_to_edge > 300.0f) { if (dist_to_edge > 300.0f) {