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FlightTaskOrbit: fix vehicle yawing to the center

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I accidentally swapped yaw setpoint and yawspeed setpoint when switching
to the new setpointinterface in 309237c4a2
This commit is contained in:
Matthias Grob
2018-05-07 15:24:15 +02:00
committed by ChristophTobler
parent 1481015675
commit 993d76c0da
1 changed files with 1 additions and 1 deletions
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2
src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp
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@@ -101,6 +101,6 @@ bool FlightTaskOrbit::update()
_velocity_setpoint = Vector3f(velocity_xy(0), velocity_xy(1), 0.f);
/* make vehicle front always point towards the center */
_yawspeed_setpoint = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
_yaw_setpoint = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
return true;
}