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Switched wind directions in nav_smooth.c (#1791)

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This commit is contained in:
Michal Podhradsky
2016-07-12 10:13:21 -07:00
committed by GitHub
parent 6b777fcbf3
commit 6c4426824e
1 changed files with 1 additions and 1 deletions
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sw/airborne/modules/nav/nav_smooth.c
+1 -1
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@@ -168,7 +168,7 @@ static void compute_ground_speed(float airspeed,
float c = wind_north * wind_north + wind_east * wind_east - airspeed * airspeed;
for (i = 0; i < NB_ANGLES; i++, alpha += ANGLE_STEP) {
/* g^2 -2 scal g + c = 0 */
float scal = wind_north * cos(alpha) + wind_east * sin(alpha);
float scal = wind_east * cos(alpha) + wind_north * sin(alpha);
float delta = 4 * (scal * scal - c);
ground_speeds[i] = scal + sqrt(delta) / 2.;
Bound(ground_speeds[i], NOMINAL_AIRSPEED / 4, 2 * NOMINAL_AIRSPEED);