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OpenSource
Baitboat
Commits
a2c3bc05
Commit
a2c3bc05
authored
12 years ago
by
Randy Mackay
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Copter: calculate home position and bearing when we have 2D Fix
parent
40b7000c
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ArduCopter/navigation.pde
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a2c3bc05
...
@@ -68,7 +68,7 @@ static void calc_distance_and_bearing()
...
@@ -68,7 +68,7 @@ static void calc_distance_and_bearing()
}
}
// calculate home distance and bearing
// calculate home distance and bearing
if
(
ap
.
home_is_set
&&
g_gps
->
status
()
==
GPS
::
GPS_OK_FIX_3D
)
{
if
(
ap
.
home_is_set
&&
(
g_gps
->
status
()
==
GPS
::
GPS_OK_FIX_3D
||
g_gps
->
status
()
==
GPS
::
GPS_OK_FIX_2D
)
)
{
home_distance
=
pythagorous2
(
curr
.
x
,
curr
.
y
);
home_distance
=
pythagorous2
(
curr
.
x
,
curr
.
y
);
home_bearing
=
pv_get_bearing_cd
(
curr
,
Vector3f
(
0
,
0
,
0
));
home_bearing
=
pv_get_bearing_cd
(
curr
,
Vector3f
(
0
,
0
,
0
));
...
...
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