Rover: fractional Loiter Turn Support

Adds special storage handling for loiter turns. Fractional Loiter Turns 0<N<1 are stored by multiplying the turn number by 256, then dividing that number by 256 on retrieval.
ArduPilot · Jan 23, 2024 · 1ec61c5 · 1ec61c5
1 parent 6ffdfd9
commit 1ec61c5
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
@@ -945,8 +945,9 @@ bool ModeAuto::do_circle(const AP_Mission::Mission_Command& cmd)
 
 bool ModeAuto::verify_circle(const AP_Mission::Mission_Command& cmd)
 {
+    const float turns = cmd.get_loiter_turns();
     // check if we have completed circling
-    return ((g2.mode_circle.get_angle_total_rad() / M_2PI) >= LOWBYTE(cmd.p1));
+    return ((g2.mode_circle.get_angle_total_rad() / M_2PI) >= turns);
 }
 
 /********************************************************************************/