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Code Issues Releases Activity

LP_616 conditionPointingTowardsNext fix

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julian_lilov 2019-10-03 16:39:04 +03:00
parent 7c9f04d87c
commit 65459c7ba0
1 changed files with 4 additions and 1 deletions
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5
flight/modules/PathPlanner/pathplanner.c
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@ -662,7 +662,10 @@ static uint8_t conditionPointingTowardsNext()
WaypointData nextWaypoint;
WaypointInstGet(nextWaypointId, &nextWaypoint);
float angle1 = atan2f((nextWaypoint.Position.North - waypoint.Position.North), (nextWaypoint.Position.East - waypoint.Position.East));
PositionStateData positionState;
PositionStateGet(&positionState);
float angle1 = atan2f((nextWaypoint.Position.North - positionState.North), (nextWaypoint.Position.East - positionState.East));
VelocityStateData velocity;
VelocityStateGet(&velocity);