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Plane: offset guided start point when using Q_GUIDED_MODE

This commit is contained in:
Andrew Tridgell 2021-06-04 18:35:23 +10:00
parent f15497c6a9
commit fd19ff3bea
1 changed files with 8 additions and 0 deletions
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8
ArduPlane/mode_guided.cpp
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@ -9,6 +9,14 @@ bool ModeGuided::_enter()
location. This matches the behaviour of the copter code location. This matches the behaviour of the copter code
*/ */
plane.guided_WP_loc = plane.current_loc; plane.guided_WP_loc = plane.current_loc;
if (plane.quadplane.guided_mode_enabled()) {
/*
if using Q_GUIDED_MODE then project forward by the stopping distance
*/
plane.guided_WP_loc.offset_bearing(degrees(plane.ahrs.groundspeed_vector().angle()),
plane.quadplane.stopping_distance());
}
plane.set_guided_WP(); plane.set_guided_WP();
return true; return true;
} }