aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Soaring: Line up on current, not next, nav command.

Browse Source
This commit is contained in:
Samuel Tabor 2019-06-09 01:12:43 +01:00 committed by Andrew Tridgell
parent 936d4232c9
commit e7736fb5e7
1 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
ArduPlane/soaring.cpp
View File

@ -128,10 +128,9 @@ void Plane::update_soaring() {
case Mode::Number::AUTO: {
//Get the lat/lon of next Nav waypoint after this one:
AP_Mission::Mission_Command next_nav_cmd;
const bool nextWpisValid = mission.get_next_nav_cmd(mission.get_current_nav_index() + 1, next_nav_cmd);
const bool headingLinedupToWP = nextWpisValid && plane.mode_loiter.isHeadingLinedUp(next_WP_loc, next_nav_cmd.content.location);
if (nextWpisValid && !headingLinedupToWP) {
AP_Mission::Mission_Command current_nav_cmd = mission.get_current_nav_cmd();;
const bool headingLinedupToWP = isHeadingLinedUp(next_WP_loc, current_nav_cmd.content.location);
if (!headingLinedupToWP) {
break;
}
switch (loiterStatus) {