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[modules] fix orange_avoider

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Christophe De Wagter
2017-11-07 18:04:55 +01:00
parent 08555b8366
commit 8a584c23ce
1 changed files with 2 additions and 2 deletions
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sw/airborne/modules/orange_avoider/orange_avoider.c
+2 -2
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@@ -92,7 +92,7 @@ uint8_t increase_nav_heading(int32_t *heading, float incrementDegrees)
// Check if your turn made it go out of bounds... // Check if your turn made it go out of bounds...
INT32_ANGLE_NORMALIZE(newHeading); // HEADING HAS INT32_ANGLE_FRAC.... INT32_ANGLE_NORMALIZE(newHeading); // HEADING HAS INT32_ANGLE_FRAC....
*heading = newHeading; *heading = newHeading;
VERBOSE_PRINT("Increasing heading to %f\n", DegOfRad(ANGLE_FLOAT_OF_BFP(*heading)); VERBOSE_PRINT("Increasing heading to %f\n", DegOfRad(ANGLE_FLOAT_OF_BFP(*heading)));
return false; return false;
} }
@@ -111,7 +111,7 @@ static uint8_t calculateForwards(struct EnuCoor_i *new_coor, float distanceMeter
new_coor->y = pos->y + POS_BFP_OF_REAL(cos_heading * (distanceMeters)); new_coor->y = pos->y + POS_BFP_OF_REAL(cos_heading * (distanceMeters));
VERBOSE_PRINT("Calculated %f m forward position. x: %f y: %f based on pos(%f, %f) and heading(%f)\n", distanceMeters, VERBOSE_PRINT("Calculated %f m forward position. x: %f y: %f based on pos(%f, %f) and heading(%f)\n", distanceMeters,
POS_FLOAT_OF_BFP(new_coor->x), POS_FLOAT_OF_BFP(new_coor->y), POS_FLOAT_OF_BFP(pos->x), POS_FLOAT_OF_BFP(pos->y), POS_FLOAT_OF_BFP(new_coor->x), POS_FLOAT_OF_BFP(new_coor->y), POS_FLOAT_OF_BFP(pos->x), POS_FLOAT_OF_BFP(pos->y),
DegOfRad(ANGLE_FLOAT_OF_BFP(eulerAngles->psi)); DegOfRad(ANGLE_FLOAT_OF_BFP(eulerAngles->psi)) );
return false; return false;
} }