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Rover: pass waypoint radius to L1 as min dist along track

This commit is contained in:
Randy Mackay 2018-03-15 11:30:41 +09:00
parent 4f0b26bd48
commit e8070a5cb3
1 changed files with 1 additions and 1 deletions
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2
APMrover2/mode.cpp
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@ -314,7 +314,7 @@ void Mode::calc_steering_to_waypoint(const struct Location &origin, const struct
// negative error = left turn
// positive error = right turn
rover.nav_controller->set_reverse(reversed);
rover.nav_controller->update_waypoint(origin, destination);
rover.nav_controller->update_waypoint(origin, destination, g.waypoint_radius);
float desired_lat_accel = rover.nav_controller->lateral_acceleration();
float desired_heading = rover.nav_controller->target_bearing_cd();
if (reversed) {