pick 出错调整，8字正常

libraries/AC_WPNav/AC_Circle.cpp

@@ -204,8 +204,8 @@ bool AC_Circle::turn_2_circle()
             _angle = wrap_PI(_angle);
             _angle_total += angle_change;
             _fabs_total = fabsf(get_angle_total()/M_2PI);
-            target.x = _center.x + _radius * cosf(-_angle);
-            target.y = _center.y - _radius * sinf(-_angle);
+            target.x = _center.x + _radius * cosf(_angle);
+            target.y = _center.y - _radius * sinf(_angle);
             if(fabs(last_bearing_rad - bearing_rad) < 0.01  && _fabs_total > 0.9){
                 _angle_total = 0;
                 stage = 3;
@@ -231,7 +231,7 @@ bool AC_Circle::turn_2_circle()
         _pos_control.set_xy_target(target.x, target.y);
         // heading is from vehicle to center of circle
         _yaw = get_bearing_cd(_inav.get_position(), _center);
-        if(is_cw_turn){
+        if(!is_cw_turn){
             _yaw += 9000;
         }else{
             _yaw += 27000;