robofsm: Added estimated position based on odometry

[eurobot/public.git] / src / robofsm / test / lineavoid.cc

diff --git a/src/robofsm/test/lineavoid.cc b/src/robofsm/test/lineavoid.cc
index 33ac3155c496b3f7bef6d00477316ec463010333..33f8e0e6ae54485bcd0f655373f000ef1e7e9950 100644 (file)
--- a/src/robofsm/test/lineavoid.cc
+++ b/src/robofsm/test/lineavoid.cc
@@ -50,7 +50,7 @@ FSM_STATE(robot_goto_test)
        struct TrajectoryConstraints tc = trajectoryConstraintsDefault;
        switch (FSM_EVENT) {
                case EV_ENTRY:
-                       if (robot.est_pos.x < 1.5) {
+                       if (robot.est_pos_uzv.x < 1.5) {
                                goalx = MAP_PLAYGROUND_WIDTH_M - 0.4;
                        } else {
                                goalx = 0.4;