Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_GPS: correct check of reported antenna distance vs stated offset

This commit is contained in:
Peter Barker 2024-02-22 15:54:49 +11:00 committed by Andrew Tridgell
parent cb2f764700
commit e6a6db9ba0
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_GPS/GPS_Backend.cpp
View File

@ -367,7 +367,7 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
} }
if ((offset_dist - reported_distance) > (min_dist * permitted_error_length_pct)) { if (fabsf(offset_dist - reported_distance) > (min_dist * permitted_error_length_pct)) {
// the magnitude of the vector is much further then we were expecting // the magnitude of the vector is much further then we were expecting
Debug("Offset=%.2f vs reported-distance=%.2f (max-delta=%.2f)", Debug("Offset=%.2f vs reported-distance=%.2f (max-delta=%.2f)",
offset_dist, reported_distance, (double)(min_dist * permitted_error_length_pct)); offset_dist, reported_distance, (double)(min_dist * permitted_error_length_pct));