[paparazzi-commits] [4153] circle is finally working

[Gautier Hattenberger]

Revision: 4153
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4153
Author:   gautier
Date:     2009-09-11 17:33:22 +0000 (Fri, 11 Sep 2009)
Log Message:
-----------
circle is finally working

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 
16:41:39 UTC (rev 4152)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_navigation.c        2009-09-11 
17:33:22 UTC (rev 4153)
@@ -152,7 +152,7 @@
     // absolute radius
     int32_t abs_radius = abs(radius);
     // carrot_angle
-    int32_t carrot_angle = ((CARROT_DIST<<2) / (abs_radius<<2)) << 
INT32_ANGLE_FRAC;
+    int32_t carrot_angle = ((CARROT_DIST<<INT32_ANGLE_FRAC) / abs_radius);
     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;