From dbbfba3686fab5f58b15178c50900a43e9525cf0 Mon Sep 17 00:00:00 2001 From: Randy Mackay <rmackay9@yahoo.com> Date: Thu, 31 Jan 2013 21:39:26 +0900 Subject: [PATCH] Copter: use home position for scaling Longitude --- ArduCopter/commands.pde | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde index 185e52fff..e1c2d3828 100644 --- a/ArduCopter/commands.pde +++ b/ArduCopter/commands.pde @@ -188,7 +188,7 @@ static void init_home() Log_Write_Cmd(0, &home); // update navigation scalers. used to offset the shrinking longitude as we go towards the poles - float rads = (fabs((float)next_WP.lat)/t7) * 0.0174532925; + float rads = (fabs((float)home.lat)/t7) * 0.0174532925; scaleLongDown = cos(rads); scaleLongUp = 1.0f/cos(rads); -- GitLab