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AR_WPNav: fix pivot activation when reversing

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This commit is contained in:
Randy Mackay 2022-01-05 12:44:27 +09:00
parent 6515e71fc1
commit 3d048ddcc2
1 changed files with 1 additions and 1 deletions
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2
libraries/AR_WPNav/AR_WPNav.cpp
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@ -180,7 +180,7 @@ bool AR_WPNav::set_desired_location(const struct Location& destination, Location
// or journey to previous waypoint was interrupted or navigation has just started
if (!_fast_waypoint) {
_pivot.deactivate();
_pivot.check_activation(oa_wp_bearing_cd() * 0.01);
_pivot.check_activation((_reversed ? wrap_360_cd(oa_wp_bearing_cd() + 18000) : oa_wp_bearing_cd()) * 0.01);
}
// convert origin and destination to offset from EKF origin