Sub: auto integrates get-closest-point-on-edge dist

ArduPilot · Sep 11, 2024 · c48de9d · c48de9d
1 parent fd97f33
commit c48de9d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/ArduSub/mode_auto.cpp b/ArduSub/mode_auto.cpp
@@ -187,8 +187,8 @@ void ModeAuto::auto_circle_movetoedge_start(const Location &circle_center, float
 
     // check our distance from edge of circle
     Vector3f circle_edge_neu;
-    sub.circle_nav.get_closest_point_on_circle(circle_edge_neu);
-    float dist_to_edge = (inertial_nav.get_position_neu_cm() - circle_edge_neu).length();
+    float dist_to_edge;
+    sub.circle_nav.get_closest_point_on_circle(circle_edge_neu, dist_to_edge);
 
     // if more than 3m then fly to edge
     if (dist_to_edge > 300.0f) {