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Use groundspeed for navigate heading

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This commit is contained in:
Jaeyoung Lim
2022-01-03 10:52:34 +01:00
committed by JaeyoungLim
parent e66e82228f
commit 52418f13b0
1 changed files with 1 additions and 1 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+1 -1
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@@ -1147,7 +1147,7 @@ FixedwingPositionControl::control_auto_velocity(const hrt_abstime &now, const Ve
//Offboard velocity control
Vector2f target_velocity{pos_sp_curr.vx, pos_sp_curr.vy};
_target_bearing = wrap_pi(atan2f(target_velocity(1), target_velocity(0)));
_l1_control.navigate_heading(_target_bearing, _yaw, get_nav_speed_2d(target_velocity));
_l1_control.navigate_heading(_target_bearing, _yaw, ground_speed);
_att_sp.roll_body = _l1_control.get_roll_setpoint();
_att_sp.yaw_body = _yaw;