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reverted navigation on landing back to old heading hold

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This commit is contained in:
Andreas Antener
2015-11-17 22:28:09 +01:00
committed by Roman
parent 6f4c8d45ff
commit 5b1c7321e7
2 changed files with 14 additions and 10 deletions
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src/lib/geo/geo.c
+2 -2
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@@ -310,7 +310,7 @@ __EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, dou
waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
} else {
heading = get_bearing_to_next_waypoint(lat_A, lon_A, lat_B, lon_B);
heading = _wrap_2pi(heading + 180.0f * M_PI_F);
heading = _wrap_2pi(heading + M_PI_F);
waypoint_from_heading_and_distance(lat_A, lon_A, heading, dist, lat_target, lon_target);
}
}
@@ -318,7 +318,7 @@ __EXPORT void create_waypoint_from_line_and_dist(double lat_A, double lon_A, dou
__EXPORT void waypoint_from_heading_and_distance(double lat_start, double lon_start, float bearing, float dist, double *lat_end, double *lon_end)
{
bearing = _wrap_2pi(bearing);
double radius_ratio = (double)(dist / CONSTANTS_RADIUS_OF_EARTH);
double radius_ratio = (double)(fabs(dist) / CONSTANTS_RADIUS_OF_EARTH);
*lat_end = asin(sin(lat_start) * cos(radius_ratio) + cos(lat_start) * sin(radius_ratio) * cos((double)bearing));
*lon_end = lon_start + atan2(sin((double)bearing) * sin(radius_ratio) * cos(lat_start), cos(radius_ratio) - sin(lat_start) * sin(*lat_end));