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tweak to the Loiter N turns

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This commit is contained in:
Jason Short 2011-10-12 20:59:12 -07:00
parent 7285cf28e2
commit 9500171a46
2 changed files with 2 additions and 3 deletions
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3
ArduCopter/ArduCopter.pde
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@ -1309,8 +1309,7 @@ static void update_nav_wp()
if (loiter_delta < -180) loiter_delta += 360;
// sum the angle around the WP
loiter_sum += abs(loiter_delta);
loiter_sum += loiter_delta;
// create a virtual waypoint that circles the next_WP
// Count the degrees we have circulated the WP

2
ArduCopter/commands_logic.pde
View File

@ -454,7 +454,7 @@ static bool verify_loiter_turns()
{
// have we rotated around the center enough times?
// -----------------------------------------------
if(loiter_sum > loiter_total) {
if(abs(loiter_sum) > loiter_total) {
loiter_total = 0;
loiter_sum = 0;
//gcs_send_text_P(SEVERITY_LOW,PSTR("verify_must: LOITER orbits complete"));