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WPNav: rounding error fix in loiter

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Contributed by Leonard Hall
This commit is contained in:
Randy Mackay 2013-07-10 16:23:51 +09:00
parent 8cb7bd628e
commit c4f17b3235
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_WPNav/AC_WPNav.cpp
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@ -535,8 +535,8 @@ void AC_WPNav::get_loiter_position_to_velocity(float dt, float max_speed_cms)
desired_vel.x = vel_sqrt * dist_error.x/dist_error_total;
desired_vel.y = vel_sqrt * dist_error.y/dist_error_total;
}else{
desired_vel.x = _pid_pos_lat->get_p(dist_error.x);
desired_vel.y = _pid_pos_lon->get_p(dist_error.y);
desired_vel.x = _pid_pos_lat->kP() * dist_error.x;
desired_vel.y = _pid_pos_lon->kP() * dist_error.y;
}
// ensure velocity stays within limits