zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

APM_Control: wrap_180_cd no longer solely returns floats

master
Peter Barker 5 years ago committed by Peter Barker
parent
a1ce8dafb0
commit
7fbaea7971
1 changed files with 1 additions and 1 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      libraries/APM_Control/AR_AttitudeControl.cpp

2
libraries/APM_Control/AR_AttitudeControl.cpp
Unescape View File

@ -601,7 +601,7 @@ bool AR_AttitudeControl::get_forward_speed(float &speed) const
if (!_ahrs.get_velocity_NED(velocity)) { if (!_ahrs.get_velocity_NED(velocity)) {
// use less accurate GPS, assuming entire length is along forward/back axis of vehicle // use less accurate GPS, assuming entire length is along forward/back axis of vehicle
if (AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D) { if (AP::gps().status() >= AP_GPS::GPS_OK_FIX_3D) {
if (fabsf(wrap_180_cd(_ahrs.yaw_sensor - AP::gps().ground_course_cd())) <= 9000) { if (abs(wrap_180_cd(_ahrs.yaw_sensor - AP::gps().ground_course_cd())) <= 9000) {
speed = AP::gps().ground_speed(); speed = AP::gps().ground_speed();
} else { } else {
speed = -AP::gps().ground_speed(); speed = -AP::gps().ground_speed();

Write Preview
Loading…
Cancel
Save