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Plane: Use Location::same_loc_as() in QuadPlane::waypoint_controller()

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Nick Exton 2023-03-21 21:20:11 +11:00 committed by Andrew Tridgell
parent 6a2bfeb3dd
commit 674d7facde
1 changed files with 1 additions and 2 deletions
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3
ArduPlane/quadplane.cpp
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@ -3044,8 +3044,7 @@ void QuadPlane::waypoint_controller(void)
const Location &loc = plane.next_WP_loc; const Location &loc = plane.next_WP_loc;
const uint32_t now = AP_HAL::millis(); const uint32_t now = AP_HAL::millis();
if (!loc.same_latlon_as(last_auto_target) || if (!loc.same_loc_as(last_auto_target) ||
plane.next_WP_loc.alt != last_auto_target.alt ||
now - last_loiter_ms > 500) { now - last_loiter_ms > 500) {
wp_nav->set_wp_destination(poscontrol.target_cm.tofloat()); wp_nav->set_wp_destination(poscontrol.target_cm.tofloat());
last_auto_target = loc; last_auto_target = loc;