[paparazzi-commits] [4150] fix res bug in navigation

[Gautier Hattenberger]

Revision: 4150
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4150
Author:   gautier
Date:     2009-09-11 12:05:20 +0000 (Fri, 11 Sep 2009)
Log Message:
-----------
fix res bug in navigation

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c        2009-09-11 
11:59:36 UTC (rev 4149)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c        2009-09-11 
12:05:20 UTC (rev 4150)
@@ -152,7 +152,7 @@
     // absolute radius
     int32_t abs_radius = abs(radius);
     // carrot_angle
-    int32_t carrot_angle = (CARROT_DIST / abs_radius) << (INT32_ANGLE_FRAC - 
INT32_POS_FRAC);
+    int32_t carrot_angle = ((CARROT_DIST<<2) / (abs_radius<<2)) << 
INT32_ANGLE_FRAC;
     Bound(carrot_angle, (INT32_ANGLE_PI / 16), INT32_ANGLE_PI_4);
     carrot_angle = nav_circle_qdr - sign_radius * carrot_angle;
     int32_t s_carrot, c_carrot;