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Update navigation_fixedwing.c

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This commit is contained in:
breadoven 2022-12-08 10:51:15 +00:00
parent d1351bea69
commit 67fec7260b
1 changed files with 1 additions and 1 deletions
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src/main/navigation/navigation_fixedwing.c
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@ -399,7 +399,7 @@ static void updatePositionHeadingController_FW(timeUs_t currentTimeUs, timeDelta
if (navConfig()->fw.wp_tracking_accuracy && isWaypointNavTrackingActive() && !needToCalculateCircularLoiter) { if (navConfig()->fw.wp_tracking_accuracy && isWaypointNavTrackingActive() && !needToCalculateCircularLoiter) {
// courseVirtualCorrection initially used to determine current position relative to course line for later use // courseVirtualCorrection initially used to determine current position relative to course line for later use
int32_t courseVirtualCorrection = wrap_18000(posControl.activeWaypoint.yaw - virtualTargetBearing); int32_t courseVirtualCorrection = wrap_18000(posControl.activeWaypoint.yaw - virtualTargetBearing);
float navCrossTrackError = ABS(posControl.wpDistance * sin_approx(CENTIDEGREES_TO_RADIANS(courseVirtualCorrection))); navCrossTrackError = ABS(posControl.wpDistance * sin_approx(CENTIDEGREES_TO_RADIANS(courseVirtualCorrection)));
// tracking only active when certain distance and heading conditions are met // tracking only active when certain distance and heading conditions are met
if ((ABS(wrap_18000(virtualTargetBearing - posControl.actualState.yaw)) < 9000 || posControl.wpDistance < 1000.0f) && navCrossTrackError > 200) { if ((ABS(wrap_18000(virtualTargetBearing - posControl.actualState.yaw)) < 9000 || posControl.wpDistance < 1000.0f) && navCrossTrackError > 200) {