jdmj
commented
3 years ago Come to think of it, if Delta is calculated from CoM to the surface position (which it seems it is), it should probably be compared to something like mVessel.radarAltitude + 1.0f instead of a constant.
line 273: if (Delta >= 0.1f) //zero is inpractical due to float nature
I find even this hardcoded value kinda impractical as is. Unless you set speed to literally crawl, RC will miss this 10cm margin and start spinning the rover around almost uncontrollably. The best change would be to expose it in the GUI as a variable, but since Lon/Lat is mostly useful for relatively long trips, increasing it to, say, 10 should be enough.