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Commit f51478ee authored by Andrew Tridgell's avatar Andrew Tridgell
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Plane: fixed LOITER_TURNS counter for counter-clockwise loiter 

thanks to Iskess for finding this bug!
parent c3d6ed1e
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ArduPlane/navigation.pde
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...@@ -37,7 +37,7 @@ static void loiter_angle_update(void) ...@@ -37,7 +37,7 @@ static void loiter_angle_update(void)
loiter.old_target_bearing_cd = target_bearing_cd; loiter.old_target_bearing_cd = target_bearing_cd;
loiter_delta_cd = wrap_180_cd(loiter_delta_cd); loiter_delta_cd = wrap_180_cd(loiter_delta_cd);
loiter.sum_cd += loiter_delta_cd; loiter.sum_cd += loiter_delta_cd * loiter.direction;
} }
//**************************************************************** //****************************************************************
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