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FlightTaskManual: replace yaw with yaw_sp for rotation

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Dennis Mannhart
2018-02-21 10:53:40 +01:00
committed by Beat Küng
parent ec79b2f8c8
commit 017576262c
3 changed files with 9 additions and 9 deletions
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4
src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
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@@ -94,8 +94,8 @@ void FlightTaskManualAltitude::_updateSetpoints()
* thrust along xy is required. The maximum thrust along xy depends on the thrust
* setpoint along z-direction, which is computed in PositionControl.cpp.
*/
matrix::Vector3f sp{_sticks(0), _sticks(1), 0.0f};
sp = (matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f, _yaw)) * sp);
Vector3f sp{_sticks(0), _sticks(1), 0.0f};
sp = (Dcmf(Eulerf(0.0f, 0.0f, _yaw_sp)) * sp);
if (sp.length() > 1.0f) {
sp.normalize();