HAPSRG / Autopilot_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen

Diff: Autopilot.cpp

Revision:
4:1117ad251fef
Parent:
3:46d4a32011fc
Child:
6:1f5e6efff5b4
--- a/Autopilot.cpp	Fri Nov 12 12:55:25 2021 +0000
+++ b/Autopilot.cpp	Mon Nov 15 13:41:51 2021 +0000
@@ -43,7 +43,7 @@
     else
     {
         roll_obj = 0.35f;   //基準
-        roll_obj -= 0.6f * (0.5f*M_PI - yaw_dif);     //旋回中心方向に対する角度を90[deg]にする
+        roll_obj -= 0.6f * (angdif_pi(0.5f*M_PI - yaw_dif));     //旋回中心方向に対する角度を90[deg]にする
         if (std::abs(0.5f*M_PI - yaw_dif) < deg2rad(5))   //距離を保つ
             roll_obj -= 0.035f * (turn_r - dist);
         else