fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-19 11:13:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

npfg: fix typo in Vector2f indexing

Browse Source
This commit is contained in:
Thomas Stastny
2022-01-19 11:17:44 -05:00
committed by Daniel Agar
parent e89e3c1b0c
commit 19c98b8841
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/npfg/npfg.cpp
+1 -1
View File
@@ -318,7 +318,7 @@ Vector2f NPFG::bearingVec(const Vector2f &unit_path_tangent, const float look_ah
const float cos_look_ahead_ang = cosf(look_ahead_ang);
const float sin_look_ahead_ang = sinf(look_ahead_ang);
Vector2f unit_path_normal(-unit_path_tangent(1.0f), unit_path_tangent(0.0f)); // right handed 90 deg (clockwise) turn
Vector2f unit_path_normal(-unit_path_tangent(1), unit_path_tangent(0)); // right handed 90 deg (clockwise) turn
Vector2f unit_track_error = -((signed_track_error < 0.0f) ? -1.0f : 1.0f) * unit_path_normal;
return cos_look_ahead_ang * unit_track_error + sin_look_ahead_ang * unit_path_tangent;