From 25dd12382a02d78ac232ae899364e6940088261e Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Wed, 17 Mar 2021 14:09:50 +0100
Subject: [PATCH] FlightTaskOrbit: default center at exact vehicle location

---
 src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
index d643a67724..1993231fa5 100644
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
@@ -167,7 +167,6 @@ bool FlightTaskOrbit::activate(const vehicle_local_position_setpoint_s &last_set
 	_r = _radius_min;
 	_v =  1.f;
 	_center = _position.xy();
-	_center(0) -= _r;
 	_initial_heading = _yaw;
 	_slew_rate_yaw.setForcedValue(_yaw);
 	_slew_rate_yaw.setSlewRate(math::radians(_param_mpc_yawrauto_max.get()));