WPOverlay: fix exit_tangent trigonometry

ArduPilot · Nov 17, 2023 · 0ae563d · 0ae563d
1 parent 3f21cc1
commit 0ae563d
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/ExtLibs/Maps/WPOverlay.cs b/ExtLibs/Maps/WPOverlay.cs
@@ -193,7 +193,8 @@ public void CreateOverlay(PointLatLngAlt home, List<Locationwp> missionitems, do
                                 if (dist > this_loiterradius)
                                 {
                                     route.Add(pointlist[pointlist.Count - 1]);
-                                    var offset = from.newpos(bearing - loiterdirection*90, this_loiterradius);
+                                    var theta = Math.Acos(this_loiterradius / dist) * MathHelper.rad2deg;
+                                    var offset = from.newpos(bearing - loiterdirection*theta, this_loiterradius);
                                     route.Add(offset);
                                 }
                                 else