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FlightTaskOrbit: switch rotation direction

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Switch to positive tangential velocity being clockwise because with NED
frame z-axis points down and mathematically positive around the z-axis
results in clockwise yaw rotation when seen from above. Also MAVLink
messages and other components in PX4 are defined this way.
This commit is contained in:
MaEtUgR
2018-06-26 15:09:04 +02:00
committed by ChristophTobler
parent 8d88fa2fca
commit 6472b579dc
1 changed files with 3 additions and 3 deletions
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6
src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
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@@ -113,7 +113,7 @@ bool FlightTaskOrbit::update()
FlightTaskManualAltitudeSmooth::update();
// stick input adjusts parameters within a fixed time frame
const float r = _r + _sticks_expo(0) * _deltatime * (_radius_max / 8.f);
const float r = _r - _sticks_expo(0) * _deltatime * (_radius_max / 8.f);
const float v = _v - _sticks_expo(1) * _deltatime * (_velocity_max / 4.f);
setRadius(r);
@@ -121,7 +121,7 @@ bool FlightTaskOrbit::update()
// xy velocity to go around in a circle
Vector2f center_to_position = Vector2f(_position.data()) - _center;
Vector2f velocity_xy = Vector2f(center_to_position(1), -center_to_position(0));
Vector2f velocity_xy = Vector2f(-center_to_position(1), center_to_position(0));
velocity_xy = velocity_xy.unit_or_zero();
velocity_xy *= _v;
@@ -134,7 +134,7 @@ bool FlightTaskOrbit::update()
// make vehicle front always point towards the center
_yaw_setpoint = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
// yawspeed feed-forward because we know the necessary angular rate
_yawspeed_setpoint = -_v / _r;
_yawspeed_setpoint = _v / _r;
return true;
}