Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Math: bug fix to wrap_360 and wrap_180

Browse Source 
angles above 720deg and below 3200deg might not have been properly
wrapped.
wrap_360_cd could return 36000 when really this should be wrapped back
to zero.
This commit is contained in:
Randy Mackay 2014-02-03 12:56:56 +09:00
parent e42a10a764
commit a963ec7e3b
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Math/location.cpp
View File

@ -160,8 +160,8 @@ int32_t wrap_360_cd(int32_t error)
// for very large numbers use modulus
error = error % 36000;
}
if (error > 36000) error -= 36000;
if (error < 0) error += 36000;
while (error >= 36000) error -= 36000;
while (error < 0) error += 36000;
return error;
}
@ -174,8 +174,8 @@ int32_t wrap_180_cd(int32_t error)
// for very large numbers use modulus
error = error % 36000;
}
if (error > 18000) { error -= 36000; }
if (error < -18000) { error += 36000; }
while (error > 18000) { error -= 36000; }
while (error < -18000) { error += 36000; }
return error;
}