From f51478ee1dbd260a2794feb9129b6690449baf47 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 1 May 2014 20:32:34 +1000
Subject: [PATCH] Plane: fixed LOITER_TURNS counter for counter-clockwise
loiter
thanks to Iskess for finding this bug!
---
ArduPlane/navigation.pde | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/ArduPlane/navigation.pde b/ArduPlane/navigation.pde
index 6ba3d193b..f38bf7de4 100644
--- a/ArduPlane/navigation.pde
+++ b/ArduPlane/navigation.pde
@@ -37,7 +37,7 @@ static void loiter_angle_update(void)
loiter.old_target_bearing_cd = target_bearing_cd;
loiter_delta_cd = wrap_180_cd(loiter_delta_cd);
- loiter.sum_cd += loiter_delta_cd;
+ loiter.sum_cd += loiter_delta_cd * loiter.direction;
}
//****************************************************************
--
GitLab