From 76d60a21118b3bf3dc8dab3e503d3a3f7edeb348 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Fri, 9 Dec 2011 15:49:41 -0800 Subject: [PATCH] Added Home Bearing --- ArduCopter/ArduCopter.pde | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index fc8136f937..746f10709d 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -354,7 +354,8 @@ static bool did_ground_start = false; // have we ground started after first ar static bool nav_ok; static const float radius_of_earth = 6378100; // meters static const float gravity = 9.81; // meters/ sec^2 -static int32_t target_bearing; // deg * 100 : 0 to 360 location of the plane to the target +static int32_t target_bearing; // deg * 100 : 0 to 360 location of the plane to the target +static int32_t home_bearing; // used to track difference in angle static byte wp_control; // used to control - navgation or loiter