ACM: Small fix to Yaw Look Ahead

2012-12-04 14:50:14 -05:00 · 2012-12-04 14:50:14 -05:00 · 8c18a60766
parent 1d589c0b7d
commit 8c18a60766
1 changed files with 1 additions and 0 deletions
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@ -132,6 +132,7 @@ static void calc_velocity_and_position(){

 static void calc_ground_bearing(){
 	ground_bearing = atan2( lat_speed , lon_speed ) * DEGX100;
+	ground_bearing = wrap_360(ground_bearing);						// atan2 returns a value of -pi to +pi, so we need to wrap this.
 }

 //****************************************************************