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Revert "commander: publish full home attitude, not only yaw (#19717)"

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This reverts commit 6855aa57c4.
This commit is contained in:
Silvan Fuhrer
2025-07-14 16:07:27 +02:00
parent a3f1fb2e01
commit 35a3f519f2
5 changed files with 14 additions and 34 deletions
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src/modules/commander/Commander.cpp
+1 -5
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@@ -999,10 +999,6 @@ Commander::handle_command(const vehicle_command_s &cmd)
}
} else {
float roll = matrix::wrap_2pi(math::radians(cmd.param2));
roll = PX4_ISFINITE(roll) ? roll : 0.0f;
float pitch = matrix::wrap_2pi(math::radians(cmd.param3));
pitch = PX4_ISFINITE(pitch) ? pitch : 0.0f;
float yaw = matrix::wrap_2pi(math::radians(cmd.param4));
yaw = PX4_ISFINITE(yaw) ? yaw : (float)NAN;
const double lat = cmd.param5;
@@ -1011,7 +1007,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
if (PX4_ISFINITE(lat) && PX4_ISFINITE(lon) && PX4_ISFINITE(alt)) {
if (_home_position.setManually(lat, lon, alt, roll, pitch, yaw)) {
if (_home_position.setManually(lat, lon, alt, yaw)) {
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;