From 1ee160a5fff1fd822782ec5676083d22fb12acf9 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Tue, 9 May 2017 12:06:26 +0200 Subject: [PATCH] navigator takeoff: use global yaw instead of home yaw --- src/modules/navigator/mission_block.cpp | 2 +- src/modules/navigator/takeoff.cpp | 3 +-- 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp index 3a6abd5fa7..86ba14679e 100644 --- a/src/modules/navigator/mission_block.cpp +++ b/src/modules/navigator/mission_block.cpp @@ -691,11 +691,11 @@ MissionBlock::set_takeoff_item(struct mission_item_s *item, float abs_altitude, /* use current position */ item->lat = _navigator->get_global_position()->lat; item->lon = _navigator->get_global_position()->lon; + item->yaw = _navigator->get_global_position()->yaw; item->altitude = abs_altitude; item->altitude_is_relative = false; - item->yaw = NAN; item->loiter_radius = _navigator->get_loiter_radius(); item->pitch_min = min_pitch; item->autocontinue = false; diff --git a/src/modules/navigator/takeoff.cpp b/src/modules/navigator/takeoff.cpp index 659b837542..a006d306de 100644 --- a/src/modules/navigator/takeoff.cpp +++ b/src/modules/navigator/takeoff.cpp @@ -141,9 +141,8 @@ Takeoff::set_takeoff_position() // convert mission item to current setpoint struct position_setpoint_triplet_s *pos_sp_triplet = _navigator->get_position_setpoint_triplet(); - pos_sp_triplet->previous.valid = false; mission_item_to_position_setpoint(&_mission_item, &pos_sp_triplet->current); - pos_sp_triplet->current.yaw = _navigator->get_home_position()->yaw; + pos_sp_triplet->previous.valid = false; pos_sp_triplet->current.yaw_valid = true; pos_sp_triplet->next.valid = false;