From 0fd043af017e4e2a01f80d8fe392672f4abe1405 Mon Sep 17 00:00:00 2001 From: Nicolas de Palezieux Date: Mon, 8 Jan 2018 11:03:39 +0100 Subject: [PATCH] vmount: compute gimbal yaw setpoint relative to vehicle yaw --- src/drivers/vmount/output.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/drivers/vmount/output.cpp b/src/drivers/vmount/output.cpp index 93db1c19f8..4c056cb621 100644 --- a/src/drivers/vmount/output.cpp +++ b/src/drivers/vmount/output.cpp @@ -187,7 +187,8 @@ void OutputBase::_handle_position_update(bool force_update) } float roll = _cur_control_data->type_data.lonlat.roll_angle; - float yaw = get_bearing_to_next_waypoint(vehicle_global_position.lat, vehicle_global_position.lon, lat, lon); + float yaw = get_bearing_to_next_waypoint(vehicle_global_position.lat, vehicle_global_position.lon, lat, lon) + - vehicle_global_position.yaw; _angle_setpoints[0] = roll; _angle_setpoints[1] = pitch;