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Replaced wigen with custom matrix lib.

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jgoppert
2015-10-24 15:10:20 -04:00
parent 0106be3e89
commit 6cce823dc6
8 changed files with 26 additions and 31 deletions
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src/modules/navigator/mission_block.cpp
+1 -1
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@@ -153,7 +153,7 @@ MissionBlock::is_mission_item_reached()
if (_waypoint_position_reached && !_waypoint_yaw_reached) {
/* TODO: removed takeoff, why? */
if (_navigator->get_vstatus()->is_rotary_wing && isfinite(_mission_item.yaw)) {
if (_navigator->get_vstatus()->is_rotary_wing && PX4_ISFINITE(_mission_item.yaw)) {
/* check yaw if defined only for rotary wing except takeoff */
float yaw_err = _wrap_pi(_mission_item.yaw - _navigator->get_global_position()->yaw);