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AP_L1_Control: fix for new AP_Math API

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Pair-Programmed-With: Brandon Jones <brnjones@gmail.com>
This commit is contained in:
Andrew Tridgell 2013-08-05 10:15:18 +10:00
parent 612ede81f4
commit cf4a74cfb8
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -88,10 +88,10 @@ void AP_L1_Control::update_waypoint(const struct Location &prev_WP, const struct
float K_L1 = 4.0f * _L1_damping * _L1_damping; float K_L1 = 4.0f * _L1_damping * _L1_damping;
// Get current position and velocity // Get current position and velocity
_ahrs->get_position(&_current_loc); _ahrs->get_position(_current_loc);
// update _target_bearing_cd // update _target_bearing_cd
_target_bearing_cd = get_bearing_cd(&_current_loc, &next_WP); _target_bearing_cd = get_bearing_cd(_current_loc, next_WP);
Vector2f _groundspeed_vector = _ahrs->groundspeed_vector(); Vector2f _groundspeed_vector = _ahrs->groundspeed_vector();
@ -182,10 +182,10 @@ void AP_L1_Control::update_loiter(const struct Location &center_WP, float radius
float K_L1 = 4.0f * _L1_damping * _L1_damping; float K_L1 = 4.0f * _L1_damping * _L1_damping;
//Get current position and velocity //Get current position and velocity
_ahrs->get_position(&_current_loc); _ahrs->get_position(_current_loc);
// update _target_bearing_cd // update _target_bearing_cd
_target_bearing_cd = get_bearing_cd(&_current_loc, &center_WP); _target_bearing_cd = get_bearing_cd(_current_loc, center_WP);
Vector2f _groundspeed_vector = _ahrs->groundspeed_vector(); Vector2f _groundspeed_vector = _ahrs->groundspeed_vector();