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WPNav: rounding error fix in loiter 

Contributed by Leonard Hall
master
Randy Mackay 12 years ago
parent
8cb7bd628e
commit
c4f17b3235
1 changed files with 2 additions and 2 deletions
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  1. 4
      libraries/AC_WPNav/AC_WPNav.cpp

4
libraries/AC_WPNav/AC_WPNav.cpp
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@ -535,8 +535,8 @@ void AC_WPNav::get_loiter_position_to_velocity(float dt, float max_speed_cms)
desired_vel.x = vel_sqrt * dist_error.x/dist_error_total; desired_vel.x = vel_sqrt * dist_error.x/dist_error_total;
desired_vel.y = vel_sqrt * dist_error.y/dist_error_total; desired_vel.y = vel_sqrt * dist_error.y/dist_error_total;
}else{ }else{
desired_vel.x = _pid_pos_lat->get_p(dist_error.x); desired_vel.x = _pid_pos_lat->kP() * dist_error.x;
desired_vel.y = _pid_pos_lon->get_p(dist_error.y); desired_vel.y = _pid_pos_lon->kP() * dist_error.y;
} }
// ensure velocity stays within limits // ensure velocity stays within limits

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