Plane: fix bug with headingLinedUp when loiter.sum_cd was negative.

6 years ago · a56b1dadb9
1 changed files with 1 additions and 1 deletions
--- a/ArduPlane/mode_loiter.cpp
+++ b/ArduPlane/mode_loiter.cpp
@ -66,7 +66,7 @@ bool ModeLoiter::isHeadingLinedUp(const int32_t bearing_cd)
				@@ -66,7 +66,7 @@ bool ModeLoiter::isHeadingLinedUp(const int32_t bearing_cd)
    */

    // Use integer division to get discrete steps
-    const int32_t expanded_acceptance = 1000 * (plane.loiter.sum_cd / 36000);
+    const int32_t expanded_acceptance = 1000 * (labs(plane.loiter.sum_cd) / 36000);

    if (labs(heading_err_cd) <= 1000 + expanded_acceptance) {
        // Want to head in a straight line from _here_ to the next waypoint instead of center of loiter wp