Agra-GPS / FreePilot_V2-3

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Dependencies:   FreePilot PinDetect mbed-src

Fork of FreePilot_V2-2 by Agra-GPS

Diff: autosteer.h

Revision:
57:0299098b2d0e
Parent:
56:456d454d9ced
Child:
59:3e5e5b97ca75
--- a/autosteer.h	Sun Mar 29 16:03:18 2015 +0000
+++ b/autosteer.h	Wed Apr 01 01:19:30 2015 +0000
@@ -113,7 +113,8 @@
         if ( abs(distAUTOL) > 0 ) {
             mx[N] = distAUTOL * FilterGain;
 
-            my[N] = -A_1[0] * (double)my[N - 1] - A_2[0] * (double)my[N - 2] - A_3[0] * (double)my[N - 3] + B0[0] * (double)mx[N] + B1[0] * (double)mx[N - 1] + B2[0] * (double)mx[N - 2] + B3[0] * (double)mx[N - 3];
+            my[N] = -A_1[0] * (double)my[N - 1] - A_2[0] * (double)my[N - 2] - A_3[0] * (double)my[N - 3] + B0[0] * 
+            (double)mx[N] + B1[0] * (double)mx[N - 1] + B2[0] * (double)mx[N - 2] + B3[0] * (double)mx[N - 3];
             mz[N] = my[N];
 
             my[N - 3] = my[N - 2];