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ArduPlane: use ground_course in preference to ground_course_cd

This commit is contained in:
Peter Barker 2021-01-22 09:19:38 +11:00 committed by Andrew Tridgell
parent d426d8e1f8
commit 95bc9cca79
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/commands_logic.cpp
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@ -460,7 +460,7 @@ void Plane::do_continue_and_change_alt(const AP_Mission::Mission_Command& cmd)
} else if (AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D) {
// use gps ground course based bearing hold
steer_state.hold_course_cd = -1;
bearing = AP::gps().ground_course_cd() * 0.01f;
bearing = AP::gps().ground_course();
next_WP_loc.offset_bearing(bearing, 1000); // push it out 1km
} else {
// use yaw based bearing hold
@ -513,7 +513,7 @@ bool Plane::verify_takeoff()
// course. This keeps wings level until we are ready to
// rotate, and also allows us to cope with arbitrary
// compass errors for auto takeoff
float takeoff_course = wrap_PI(radians(gps.ground_course_cd()*0.01f)) - steer_state.locked_course_err;
float takeoff_course = wrap_PI(radians(gps.ground_course())) - steer_state.locked_course_err;
takeoff_course = wrap_PI(takeoff_course);
steer_state.hold_course_cd = wrap_360_cd(degrees(takeoff_course)*100);
gcs().send_text(MAV_SEVERITY_INFO, "Holding course %d at %.1fm/s (%.1f)",