Diff: Asservissement/Asserv.h

Revision:

75:23222b28dc90

Parent:

74:88be86f83d17

Child:

78:7c7cefbe1772

--- a/Asservissement/Asserv.h	Mon Apr 13 16:53:19 2015 +0000
+++ b/Asservissement/Asserv.h	Mon Apr 13 17:14:24 2015 +0000
@@ -328,7 +328,8 @@
         
     }
     
-    bool isArrived() { return isarrived;}        
+    bool isArrived() { return isarrived;}  
+    bool isArrivedRho() {   return isarrivedrho;}      
     
     void stop()
     {
@@ -406,7 +407,10 @@
             }
             */
             /*------------------------------------------------*/
-            if(extract( dX-X, 
+            if( norme2( extract( dX-X,1,1,2,1)) <= 10 )
+                isarrivedrho = true;
+                
+             
             instanceEKF->measurement_Callback( z, dXbehaviour, true );            
             instanceEKF->state_Callback();
             //instanceEKF->setX(z);