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AP_L1_Control: use projected position for turns

This commit is contained in:
Andrew Tridgell 2013-06-17 10:42:35 +10:00
parent 9c88872ad0
commit df8e8c64e8
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -97,7 +97,7 @@ 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_projected_position(_current_loc);
// update _target_bearing_cd
_target_bearing_cd = get_bearing_cd(_current_loc, next_WP);
@ -197,7 +197,7 @@ void AP_L1_Control::update_loiter(const struct Location &center_WP, float radius
float K_L1 = 4.0f * _L1_damping * _L1_damping;
//Get current position and velocity
_ahrs->get_position(_current_loc);
_ahrs->get_projected_position(_current_loc);
// update _target_bearing_cd
_target_bearing_cd = get_bearing_cd(_current_loc, center_WP);