Fw nav extras

It is a mirror of WP_AF: minus the diff: the idea is to continue the same
slope if for a reason you did not land yet at TD.
On Sep 29, 2014 6:54 PM, "Gautier Hattenberger" <notifications@github.com>
wrote:

> In sw/airborne/firmwares/fixedwing/nav.c:
>
> > @@ -258,6 +258,19 @@ static inline bool_t nav_compute_final_from_glide(uint8_t wp_af, uint8_t wp_td,
> >    return FALSE;
> >  }
> >
> > +static inline bool_t nav_compute_flare_from_aftd(uint8_t wp_af, uint8_t wp_td, uint8_t wp_flare ) {
> > +
> > +  float x_0 = waypoints[wp_td].x - waypoints[wp_af].x;
> > +  float y_0 = waypoints[wp_td].y - waypoints[wp_af].y;
> > +  float h_0 = waypoints[wp_td].a - waypoints[wp_af].a;
> > +
> > +  waypoints[wp_flare].x = waypoints[wp_td].x + x_0;
> > +  waypoints[wp_flare].y = waypoints[wp_td].y + y_0;
> > +  waypoints[wp_flare].a = waypoints[wp_td].a + h_0;
>
> It seems to that with this wp_flare = wp_af which is probably not what you
> want
>
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