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AP_L1_Control: no need to project position for lag 

now handled by AHRS
This commit is contained in:
Andrew Tridgell 2014-01-02 22:05:41 +11:00
parent 91cbad52a1
commit b9128a932f
1 changed files with 0 additions and 10 deletions
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10
libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -124,11 +124,6 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
Vector2f _groundspeed_vector = _ahrs.groundspeed_vector();
// update the position for lag. This helps especially for rovers
// where waypoints may be very close together
Vector2f lag_offset = _groundspeed_vector * _ahrs.get_position_lag();
location_offset(_current_loc, lag_offset.x, lag_offset.y);
// update _target_bearing_cd
_target_bearing_cd = get_bearing_cd(_current_loc, next_WP);
@ -229,11 +224,6 @@ void AP_L1_Control::update_loiter(const struct Location &center_WP, float radius
Vector2f _groundspeed_vector = _ahrs.groundspeed_vector();
// update the position for lag. This helps especially for rovers
// where waypoints may be very close together
Vector2f lag_offset = _groundspeed_vector * _ahrs.get_position_lag();
location_offset(_current_loc, lag_offset.x, lag_offset.y);
//Calculate groundspeed
float groundSpeed = max(_groundspeed_vector.length() , 1.0f);