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FlightTaskManual: replace yaw with yaw_sp for rotation

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Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent ec79b2f8c8
commit 017576262c
3 changed files with 9 additions and 9 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+2 -1
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@@ -84,7 +84,8 @@ void FlightTaskManualStabilized::_updateThrustSetpoints()
{
/* Rotate setpoint into local frame. */
matrix::Vector3f sp{_sticks(0), _sticks(1), 0.0f};
sp = (matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f, _yaw)) * sp);
sp = (matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f, _yaw_sp)) * sp);
/* Ensure that maximum tilt is in [0.001, Pi] */
float tilt_max = math::constrain(math::radians(_tilt_max_man.get()), 0.001f, M_PI_F);