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

Copter: calculate home position and bearing when we have 2D Fix

Browse Source
This commit is contained in:
Randy Mackay 2013-06-25 22:14:56 +09:00
parent f1bedc70ac
commit facd8fc89f
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/navigation.pde
View File

@ -68,7 +68,7 @@ static void calc_distance_and_bearing()
}
// calculate home distance and bearing
if( ap.home_is_set && g_gps->status() == GPS::GPS_OK_FIX_3D ) {
if( ap.home_is_set && (g_gps->status() == GPS::GPS_OK_FIX_3D || g_gps->status() == GPS::GPS_OK_FIX_2D)) {
home_distance = pythagorous2(curr.x, curr.y);
home_bearing = pv_get_bearing_cd(curr,Vector3f(0,0,0));