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Copter: Jason's bug fix for loiter's set_next_WP_latlon

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Randy Mackay 2013-04-05 13:45:26 +09:00
parent 17cbcd1bf6
commit 95d944f610
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/navigation.pde
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@ -440,7 +440,7 @@ loiter_set_pos_from_velocity(int16_t vel_forward_cms, int16_t vel_right_cms, flo
// update next_WP location for reporting purposes // update next_WP location for reporting purposes
set_next_WP_latlon( set_next_WP_latlon(
home.lat + loiter_lat_from_home_cm / LATLON_TO_CM, home.lat + loiter_lat_from_home_cm / LATLON_TO_CM,
home.lng + loiter_lat_from_home_cm / LATLON_TO_CM * scaleLongUp); home.lng + loiter_lon_from_home_cm / LATLON_TO_CM * scaleLongUp);
} }
// loiter_set_target - set loiter's target position from home in cm // loiter_set_target - set loiter's target position from home in cm
@ -454,7 +454,7 @@ loiter_set_target(float lat_from_home_cm, float lon_from_home_cm)
// update next_WP location for reporting purposes // update next_WP location for reporting purposes
set_next_WP_latlon( set_next_WP_latlon(
home.lat + loiter_lat_from_home_cm / LATLON_TO_CM, home.lat + loiter_lat_from_home_cm / LATLON_TO_CM,
home.lng + loiter_lat_from_home_cm / LATLON_TO_CM * scaleLongUp); home.lng + loiter_lon_from_home_cm / LATLON_TO_CM * scaleLongUp);
} }
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