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Code Issues Releases Activity

bugfix in pathplanner - 3d distance not calculated correctly

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This commit is contained in:
Corvus Corax 2013-07-11 14:35:37 +02:00
parent 65f890982e
commit 0ffb2dee02
1 changed files with 1 additions and 1 deletions
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2
flight/modules/PathPlanner/pathplanner.c
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@ -371,7 +371,7 @@ static uint8_t conditionDistanceToTarget()
if (pathAction.ConditionParameters[1] > 0.5f) {
distance = sqrtf(powf(waypoint.Position[0] - positionState.North, 2)
+ powf(waypoint.Position[1] - positionState.East, 2)
+ powf(waypoint.Position[1] - positionState.Down, 2));
+ powf(waypoint.Position[2] - positionState.Down, 2));
} else {
distance = sqrtf(powf(waypoint.Position[0] - positionState.North, 2)
+ powf(waypoint.Position[1] - positionState.East, 2));