[paparazzi-commits] [4235] fix tilt in waypoint mode

[Gautier Hattenberger]

Revision: 4235
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4235
Author:   gautier
Date:     2009-10-06 09:39:03 +0000 (Tue, 06 Oct 2009)
Log Message:
-----------
fix tilt in waypoint mode

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/booz/booz2_cam.c

Modified: paparazzi3/trunk/sw/airborne/booz/booz2_cam.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz2_cam.c       2009-10-06 09:38:30 UTC 
(rev 4234)
+++ paparazzi3/trunk/sw/airborne/booz/booz2_cam.c       2009-10-06 09:39:03 UTC 
(rev 4235)
@@ -101,7 +101,7 @@
         nav_heading = booz2_cam_pan;
         int32_t dist, height;
         INT32_VECT2_NORM(dist, diff);
-        height = waypoints[WP_CAM].z - booz_ins_enu_pos.z;
+        height = (waypoints[WP_CAM].z - booz_ins_enu_pos.z) >> INT32_POS_FRAC;
         INT32_ATAN2(booz2_cam_tilt, height, dist);
         Bound(booz2_cam_tilt, CAM_TA_MIN, CAM_TA_MAX);
         booz2_cam_tilt_pwm = BOOZ2_CAM_TILT_MIN + (BOOZ2_CAM_TILT_MAX - 
BOOZ2_CAM_TILT_MIN) * (booz2_cam_tilt - CAM_TA_MIN) / (CAM_TA_MAX - CAM_TA_MIN);