From cf4a74cfb86171fd3ce6813a473036e5f274c45e Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 5 Aug 2013 10:15:18 +1000 Subject: [PATCH] AP_L1_Control: fix for new AP_Math API Pair-Programmed-With: Brandon Jones --- libraries/AP_L1_Control/AP_L1_Control.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_L1_Control/AP_L1_Control.cpp b/libraries/AP_L1_Control/AP_L1_Control.cpp index a51c6eba5f..e9d96ad489 100644 --- a/libraries/AP_L1_Control/AP_L1_Control.cpp +++ b/libraries/AP_L1_Control/AP_L1_Control.cpp @@ -88,10 +88,10 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct float K_L1 = 4.0f * _L1_damping * _L1_damping; // Get current position and velocity - _ahrs->get_position(&_current_loc); + _ahrs->get_position(_current_loc); // update _target_bearing_cd - _target_bearing_cd = get_bearing_cd(&_current_loc, &next_WP); + _target_bearing_cd = get_bearing_cd(_current_loc, next_WP); Vector2f _groundspeed_vector = _ahrs->groundspeed_vector(); @@ -182,10 +182,10 @@ void AP_L1_Control::update_loiter(const struct Location ¢er_WP, float radius float K_L1 = 4.0f * _L1_damping * _L1_damping; //Get current position and velocity - _ahrs->get_position(&_current_loc); + _ahrs->get_position(_current_loc); // update _target_bearing_cd - _target_bearing_cd = get_bearing_cd(&_current_loc, ¢er_WP); + _target_bearing_cd = get_bearing_cd(_current_loc, center_WP); Vector2f _groundspeed_vector = _ahrs->groundspeed_vector();