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Rev 540 Rev 544
Line 767... Line 767...
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                GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position));
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                GPSPos_Copy(&NaviData.TargetPosition, &(WP.Position));
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        }
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        }
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        GPSPos_Copy(&GPSData.Position, &(WP.Position));
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        GPSPos_Copy(&GPSData.Position, &(WP.Position));
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        // set heading
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        // set heading
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//      WP.Heading = CompassSetpointCorrected/10 + Parameter.OrientationAngle * 15;
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        WP.Heading = CompassSetpointCorrected/10 + Parameter.OrientationAngle * 15;
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        WP.Heading = CompassSetpointCorrected/10 + Parameter.CamOrientation * 15;
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        if(WP.Heading == 0) WP.Heading = 360;
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        if(WP.Heading == 0) WP.Heading = 360;
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        WP.ToleranceRadius = 120; // 12m
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        WP.ToleranceRadius = 120; // 12m
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        WP.HoldTime  = 2;
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        WP.HoldTime  = 2;
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        WP.Index  = 1;
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        WP.Index  = 1;