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Merge pull request #6166 from etracer65/gps_rescue_heading_fix 

Fix gps rescue heading edge case
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Michael Keller 2018-06-20 01:02:56 +12:00 committed by GitHub
parent c6a5ab9b96 e83d5a6fc7
commit 713e72321b
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1 changed files with 3 additions and 2 deletions
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5
src/main/flight/gps_rescue.c
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@ -394,10 +394,11 @@ void setBearing(int16_t deg)
{ {
int16_t dif = DECIDEGREES_TO_DEGREES(attitude.values.yaw) - deg; int16_t dif = DECIDEGREES_TO_DEGREES(attitude.values.yaw) - deg;
if (dif <= -180) if (dif <= -180) {
dif += 360; dif += 360;
if (dif >= +180) } else if (dif > 180) {
dif -= 360; dif -= 360;
}
dif *= -GET_DIRECTION(rcControlsConfig()->yaw_control_reversed); dif *= -GET_DIRECTION(rcControlsConfig()->yaw_control_reversed);