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FlightTaskManualPosition: use axis angle to rotate into world frame

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Dennis Mannhart 2018-02-15 09:34:02 +01:00 committed by Beat Küng
parent d22af4679d
commit 01073d36e5
1 changed files with 4 additions and 3 deletions
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7
src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp
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@ -74,9 +74,9 @@ void FlightTaskManualPosition::_scaleSticks()
_vel_sp_xy = stick_xy * _vel_xy_manual_max.get();
/* Rotate setpoint into local frame. */
matrix::Vector3f vel_sp{_vel_sp_xy(0), _vel_sp_xy(1), 0.0f};
vel_sp = (matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f, _yaw)) * vel_sp);
_vel_sp_xy = matrix::Vector2f(vel_sp(0), vel_sp(1));
matrix::Quatf q_yaw = matrix::AxisAnglef(matrix::Vector3f(0.0f, 0.0f, 1.0f), _yaw);
matrix::Vector3f vel_world = q_yaw.conjugate(matrix::Vector3f(_vel_sp_xy(0), _vel_sp_xy(1), 0.0f));
_vel_sp_xy = matrix::Vector2f(vel_world(0), vel_world(1));
}
void FlightTaskManualPosition::_updateXYlock()
@ -90,6 +90,7 @@ void FlightTaskManualPosition::_updateXYlock()
_pos_sp_xy = matrix::Vector2f(&_position(0));
} else if (!apply_brake) {
/* Don't use position setpoint */
_pos_sp_xy = _pos_sp_xy * NAN;
}
}