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Copter: auto integrates get-closest-point-on-edge dist

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This commit is contained in:
Randy Mackay 2024-09-11 20:24:34 +09:00
parent 91926674e9
commit df2ae532c2
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/mode_auto.cpp
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@ -517,8 +517,8 @@ void ModeAuto::circle_movetoedge_start(const Location &circle_center, float radi
// check our distance from edge of circle
Vector3f circle_edge_neu;
copter.circle_nav->get_closest_point_on_circle(circle_edge_neu);
float dist_to_edge = (inertial_nav.get_position_neu_cm() - circle_edge_neu).length();
float dist_to_edge;
copter.circle_nav->get_closest_point_on_circle(circle_edge_neu, dist_to_edge);
// if more than 3m then fly to edge
if (dist_to_edge > 300.0f) {