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fix posctl heading hold

This commit is contained in:
Mark Whitehorn 2015-06-04 08:28:43 -06:00 committed by Lorenz Meier
parent e5e4db1923
commit 1f3c5d00e4
1 changed files with 2 additions and 2 deletions
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4
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@ -912,8 +912,8 @@ void FixedwingPositionControl::get_waypoint_heading_distance(float heading, floa
if (flag_init) {
// on init set first waypoint to momentary position
waypoint_prev.lat = _global_pos.lat;
waypoint_prev.lon = _global_pos.lon;
waypoint_prev.lat = _global_pos.lat - cos(heading) * (double)(HDG_HOLD_SET_BACK_DIST) / 1e6;
waypoint_prev.lon = _global_pos.lon - sin(heading) * (double)(HDG_HOLD_SET_BACK_DIST) / 1e6;
} else {
/*
for previous waypoint use the one still in front of us but shift it such that it is