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Calc error for logs

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Jason Short 2012-01-21 11:57:21 -08:00
parent 2b1119f365
commit fa06d4a2e3
1 changed files with 4 additions and 1 deletions
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ArduCopter/ArduCopter.pde
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@ -2007,7 +2007,7 @@ static void update_nav_wp()
{
if(wp_control == LOITER_MODE){
// calc a pitch to the target
// calc error to target
calc_location_error(&next_WP);
// use error as the desired rate towards the target
@ -2064,6 +2064,9 @@ static void update_nav_wp()
//Serial.printf("CIRCLE: angle:%d, dist:%d, X:%d, Y:%d, P:%d, R:%d \n", angleTest, (int)wp_distance , (int)long_error, (int)lat_error, npitch, nroll);
}else if(wp_control == WP_MODE){
// calc error to target
calc_location_error(&next_WP);
int16_t speed = calc_desired_speed(g.waypoint_speed_max);
// use error as the desired rate towards the target
calc_nav_rate(speed);