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FW: Allow counterclockwise loiter

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Before, this check was always true, thus always falling back to
NAV_LOITER_RAD, which can't be negative.
This commit is contained in:
David Jablonski
2020-01-08 16:11:22 +01:00
committed by Daniel Agar
parent 253296eec7
commit 3d60ef9383
1 changed files with 1 additions and 1 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1 -1
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@@ -854,7 +854,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
float loiter_radius = pos_sp_curr.loiter_radius;
uint8_t loiter_direction = pos_sp_curr.loiter_direction;
if (pos_sp_curr.loiter_radius < 0.01f || pos_sp_curr.loiter_radius > -0.01f) {
if (fabsf(pos_sp_curr.loiter_radius) < FLT_EPSILON) {
loiter_radius = _parameters.loiter_radius;
loiter_direction = (loiter_radius > 0) ? 1 : -1;