Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ACM: Small fix to Yaw Look Ahead

This commit is contained in:
Robert Lefebvre 2012-12-04 14:50:14 -05:00
parent 1d589c0b7d
commit 8c18a60766
1 changed files with 1 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
ArduCopter/navigation.pde
View File

@ -132,6 +132,7 @@ static void calc_velocity_and_position(){
static void calc_ground_bearing(){ static void calc_ground_bearing(){
ground_bearing = atan2( lat_speed , lon_speed ) * DEGX100; 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.
} }
//**************************************************************** //****************************************************************