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added USE_GPS_FIX_ESTIMATION

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fixed indentation
This commit is contained in:
Roman Lut 2023-08-09 09:48:46 +02:00
parent 2b9a5a6a8d
commit 599e45c48f
29 changed files with 626 additions and 397 deletions
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10
src/main/navigation/navigation_fixedwing.c
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@ -313,13 +313,13 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod)
loiterCenterPos.x = posControl.activeWaypoint.pos.x + navLoiterRadius * cos_approx(CENTIDEGREES_TO_RADIANS(loiterCenterBearing));
loiterCenterPos.y = posControl.activeWaypoint.pos.y + navLoiterRadius * sin_approx(CENTIDEGREES_TO_RADIANS(loiterCenterBearing));
posErrorX = loiterCenterPos.x - navGetCurrentActualPositionAndVelocity()->pos.x;
posErrorY = loiterCenterPos.y - navGetCurrentActualPositionAndVelocity()->pos.y;
posErrorX = loiterCenterPos.x - navGetCurrentActualPositionAndVelocity()->pos.x;
posErrorY = loiterCenterPos.y - navGetCurrentActualPositionAndVelocity()->pos.y;
// turn direction to next waypoint
loiterTurnDirection = posControl.activeWaypoint.nextTurnAngle > 0 ? 1 : -1; // 1 = right
// turn direction to next waypoint
loiterTurnDirection = posControl.activeWaypoint.nextTurnAngle > 0 ? 1 : -1; // 1 = right
needToCalculateCircularLoiter = true;
needToCalculateCircularLoiter = true;
}
posControl.flags.wpTurnSmoothingActive = true;
}