yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-21 09:22:18 +00:00
Code Issues Packages Projects Releases Wiki Activity

FlightTaskManual: transformation into heading frame use vehicle yaw or yaw_sp based

Browse Source 
on vehicle rotation in yaw
This commit is contained in:
Dennis Mannhart
2018-02-22 08:33:48 +01:00
committed by Beat Küng
parent ab8527cc8f
commit 421aeb69d8
4 changed files with 19 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
View File

@@ -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.
*/
Vector3f sp{_sticks(0), _sticks(1), 0.0f};
sp = (Dcmf(Eulerf(0.0f, 0.0f, _yaw_sp)) * sp);
Vector2f sp{_sticks(0), _sticks(1)};
_rotateIntoHeadingFrame(sp);
if (sp.length() > 1.0f) {
sp.normalize();