Diff: LOCALIZE.cpp

Revision:

9:4fc5d70c3bab

Parent:

8:b36be08c44f8

Child:

10:cf44f4387bc7

--- a/LOCALIZE.cpp	Wed Mar 23 06:55:39 2016 +0000
+++ b/LOCALIZE.cpp	Wed Mar 23 07:53:32 2016 +0000
@@ -67,13 +67,13 @@
     if(_xya.a<R_ERROR || _xya.a>360-R_ERROR) {
         _rx=_rx_p<_rx_n ? _rx_p : FRAME_W-RX_OFF-_rx_n;
         _ry=_ry_p<_ry_n ? _ry_p : FRAME_H-RY_OFF-_ry_n;
-    } else if(abs(_xya.a-90)<R_ERROR) {
+    } else if(abs(_xya.a-270)<R_ERROR) {
         _rx=_ry_p<_ry_n ? _ry_p : FRAME_W-RY_OFF-_ry_n;
         _ry=_rx_p<_rx_n ? FRAME_H-RX_OFF-_rx_p : _rx_n;
     } else if(abs(_xya.a-180)<R_ERROR) {
         _rx=_rx_p<_rx_n ? FRAME_W-RX_OFF-_rx_p : _rx_n;
         _ry=_ry_p<_ry_n ? FRAME_H-RY_OFF-_ry_p : _ry_n;
-    } else if(abs(_xya.a-270)<R_ERROR) {
+    } else if(abs(_xya.a-90)<R_ERROR) {
         _rx=_ry_p<_ry_n ? FRAME_W-RY_OFF-_ry_p : _ry_n;
         _ry=_rx_p<_rx_n ? _rx_p : FRAME_H-RX_OFF-_rx_n; 
     } else {