From 52418f13b06ef5f2b5b30038486f7f270e7580f2 Mon Sep 17 00:00:00 2001 From: Jaeyoung Lim Date: Thu, 30 Dec 2021 15:11:27 +0100 Subject: [PATCH] Use groundspeed for navigate heading --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 33382936fe..6e0f72e6f6 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -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;