Spell 'latitude'.

Fixes to make this build.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@506 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/AP_Navigation/Navigation.cpp

@@ -12,7 +12,7 @@ Navigation::update_gps()
 {
 	location.alt 		= _gps->altitude;
 	location.lng 		= _gps->longitude;
-	location.lat 		= _gps->lattitude;
+	location.lat 		= _gps->latitude;
 	
 	// target_bearing is where we should be heading 
 	bearing 			= get_bearing(&location, &next_wp);
@@ -74,18 +74,17 @@ Navigation::load_wp_index(uint8_t i)
 	_wp->set_index(i);
 	set_next_wp(_wp->get_current_waypoint());
 }
+
 void
 Navigation::hold_location()
 {
-	
-	set_next_wp()
+  //	set_next_wp()	XXX needs to be implemented
 }
 
 void
 Navigation::set_home(Waypoints::WP loc)
 {
-	Waypoints::WP loc
-	_wp->set_waypoint_with_index(loc, i);
+	_wp->set_waypoint_with_index(loc, 0);
 	home 		= loc;
 	//location 	= home;
 }
@@ -190,7 +189,7 @@ Navigation::calc_altitude_error(void)
 void
 Navigation::set_loiter_vector(int16_t v)
 {
-	_vector = constrain(v, -18000, 18000);
+  //	_vector = constrain(v, -18000, 18000);	XXX needs to be implemented
 }
 
 void

libraries/AP_Navigation/Navigation.h

@@ -1,3 +1,7 @@
+
+#ifndef AP_NAVIGATION_h
+#define AP_NAVIGATION_h
+
 #define XTRACK_GAIN 10 					// Amount to compensate for crosstrack (degrees/100 per meter)
 #define XTRACK_ENTRY_ANGLE 3000			// Max angle used to correct for track following	degrees*100
 #include <GPS.h>						// ArduPilot GPS Library
@@ -12,12 +16,15 @@ public:
 	
 	void 		update_gps(void);					// called 50 Hz
 	void		set_home(Waypoints::WP loc);
+	void		set_next_wp(Waypoints::WP loc);
 	void 		load_first_wp(void);
 	void 		load_wp_with_index(uint8_t i);
 	void 		load_home(void);
-	void		return_to_home(void);
+	void		return_to_home_with_alt(uint32_t alt);
 
 	void		reload_wp(void);
+	void		load_wp_index(uint8_t i);
+	void		hold_location();
 	void		set_wp(Waypoints::WP loc);
 
 	void		set_hold_course(int16_t b);				// -1 deisables, 0-36000 enables
@@ -27,6 +34,7 @@ public:
 	int32_t 	get_bearing(Waypoints::WP *loc1, Waypoints::WP *loc2);
 	void		set_bearing_error(int32_t error);
 	
+	void		set_loiter_vector(int16_t v);
 	void 		update_crosstrack(void);
 	
 	int32_t		bearing;							// deg * 100 : 0 to 360 current desired bearing to navigate
@@ -44,6 +52,7 @@ private:
 	void 		calc_bearing_error(void);
 	void		calc_altitude_error(void);
 	void		calc_distance_error(void);
+	void 		calc_long_scaling(int32_t lat);
 	void 		reset_crosstrack(void);
 	int32_t		wrap_360(int32_t error);			// utility
 
@@ -60,3 +69,6 @@ private:
 	float 		_scaleLongDown;				// used to reverse int32_ttitude scaling	
 	int16_t		_loiter_delta;
 };
+
+
+#endif // AP_NAVIGATION_h