From be10a861c0c5c939b2f9d9e24704475a914c0ebf Mon Sep 17 00:00:00 2001 From: Jason Short Date: Wed, 12 Oct 2011 20:59:12 -0700 Subject: [PATCH] tweak to the Loiter N turns --- ArduCopter/ArduCopter.pde | 3 +-- ArduCopter/commands_logic.pde | 2 +- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 30978d32b2..0b7393187b 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -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 diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde index 39e4aaeb27..9c8faf8295 100644 --- a/ArduCopter/commands_logic.pde +++ b/ArduCopter/commands_logic.pde @@ -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"));