bugfix for small kite

aenarete · Jun 12, 2024 · 5c770da · 5c770da
1 parent 0d337cf
commit 5c770da
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/flightpathplanner2.jl b/src/flightpathplanner2.jl
@@ -110,7 +110,7 @@ function on_new_data(fpp::FlightPathPlanner, depower, length, heading, height, t
     elseif state == FLY_LEFT  && phi > fpp.fpca._phi_sw 
         fpp.fpca.fig8 += 1            
         _switch(fpp, TURN_LEFT)
-    elseif state == TURN_LEFT && (psi > deg2rad(180.0 + fpp.fpca._heading_offset) || fpp.timeout > fpp.fpps.timeout)
+    elseif state == TURN_LEFT && (psi > deg2rad(180.0 - fpp.fpca._heading_offset) || fpp.timeout > fpp.fpps.timeout)
         _switch(fpp, FLY_RIGHT)
     elseif state == FLY_RIGHT && phi >= phi_3
         if ! fpp.finish

diff --git a/src/kiteobserver.jl b/src/kiteobserver.jl
@@ -14,7 +14,7 @@ function load_corr()
     try
         return JLD2.load(joinpath(get_data_path(), "corr_vec.jld2"))["corr_vec"]
     catch
-        return -collect(0.1:0.15:3)*1
+        return zeros(20)
     end
 end
 function save_corr(corr_vec)
@@ -82,8 +82,8 @@ end
 
 # correction for first (lowest) turn
 function corrected_elev(corr_vec, elev_nom)
-    if isnothing(corr_vec) || length(corr_vec) == 0 || abs(corr_vec[1]) < 1
-        return elev_nom+6.5
+    if isnothing(corr_vec) || length(corr_vec) == 0
+        return elev_nom
     end
-    elev_nom + 0.7*corr_vec[1]
+    elev_nom + 0.5*corr_vec[1]
 end