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Copter: bug fix for loiter target

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Randy Mackay 2013-04-11 18:24:20 +09:00
parent e637a8fb29
commit cdb532a594
2 changed files with 6 additions and 2 deletions
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5
ArduCopter/navigation.pde
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@ -389,8 +389,9 @@ get_loiter_pos_lat_lon(int32_t target_lat_from_home, int32_t target_lon_from_hom
int16_t linear_distance; // the distace we swap between linear and sqrt. int16_t linear_distance; // the distace we swap between linear and sqrt.
// calculate distance error // calculate distance error
dist_error_lat = target_lat_from_home - inertial_nav.get_latitude_diff(); Vector3f curr = inertial_nav.get_position();
dist_error_lon = target_lon_from_home - inertial_nav.get_longitude_diff(); dist_error_lat = target_lat_from_home - curr.x;
dist_error_lon = target_lon_from_home - curr.y;
linear_distance = MAX_LOITER_POS_ACCEL/(2*g.pi_loiter_lat.kP()*g.pi_loiter_lat.kP()); linear_distance = MAX_LOITER_POS_ACCEL/(2*g.pi_loiter_lat.kP()*g.pi_loiter_lat.kP());

3
libraries/AP_InertialNav/AP_InertialNav.h
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@ -61,6 +61,9 @@ public:
// correct_with_gps - modifies accelerometer offsets using gps. dt is time since last gps update // correct_with_gps - modifies accelerometer offsets using gps. dt is time since last gps update
void correct_with_gps(int32_t lon, int32_t lat, float dt); void correct_with_gps(int32_t lon, int32_t lat, float dt);
// get_position - returns current position from home in cm
Vector3f get_position() { return _position_base + _position_correction; }
// get latitude & longitude positions // get latitude & longitude positions
int32_t get_latitude(); int32_t get_latitude();
int32_t get_longitude(); int32_t get_longitude();