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Changed constant name to UNMANNED_GROUND_VEHICLE

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This commit is contained in:
Timothy Scott
2019-06-13 10:04:26 +02:00
committed by Julian Oes
parent 714c90b9db
commit 21760a5856
19 changed files with 39 additions and 32 deletions
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src/modules/navigator/mission_block.cpp
+5 -3
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@@ -335,10 +335,12 @@ MissionBlock::is_mission_item_reached()
&& PX4_ISFINITE(_mission_item.yaw))) {
/* check course if defined only for rotary wing except takeoff */
float cog = _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
? _navigator->get_global_position()->yaw : atan2f(
float cog = (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) ?
_navigator->get_global_position()->yaw :
atan2f(
_navigator->get_global_position()->vel_e,
_navigator->get_global_position()->vel_n);
_navigator->get_global_position()->vel_n
);
float yaw_err = wrap_pi(_mission_item.yaw - cog);