//double approx_angle = atan2(daltM, range);
double frm_spd = 50; // formation speed
double join_rnge = 1000.0;
- double recip_parent_hdg = calcRecipBearingDeg(parent_hdg);
+// double recip_parent_hdg = calcRecipBearingDeg(parent_hdg);
int turn = SGMiscd::sign(rel_brg);// turn direction: 1 = right, -1 = left
if (range <= join_rnge && (hdg >= hdg_l_lim || hdg <= hdg_r_lim)){
--destIndex;
}
- int currentWpIndex = currentWaypoint();
+ unsigned int currentWpIndex = currentWaypoint();
WayptRef w(_rm->removeWayptAtIndex(srcIndex));
SG_LOG(SG_GENERAL, SG_INFO, "wpt:" << w->ident());
_rm->insertWayptAtIndex(w, destIndex);