From 5c1e0ddd96f8dee25dd2846a059f25acdc4665a2 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 14 Apr 2023 15:55:03 +0200 Subject: [PATCH] FlightTaskTransition: use new 2D rotation --- .../tasks/Transition/FlightTaskTransition.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp b/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp index 790836d896..db23c2e0d7 100644 --- a/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp +++ b/src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp @@ -36,7 +36,8 @@ */ #include "FlightTaskTransition.hpp" -#include "Sticks.hpp" + +using namespace matrix; FlightTaskTransition::FlightTaskTransition() { @@ -50,7 +51,6 @@ FlightTaskTransition::FlightTaskTransition() bool FlightTaskTransition::updateInitialize() { - updateParameters(); return FlightTask::updateInitialize(); } @@ -110,8 +110,7 @@ bool FlightTaskTransition::update() // calculate a horizontal acceleration vector which corresponds to an attitude composed of pitch up by _param_pitch_cruise_degrees // and zero roll angle - matrix::Vector2f tmp(-1.0f, 0.0f); - Sticks::rotateIntoHeadingFrameXY(tmp, _yaw, NAN); + const Vector2f tmp = Dcm2f(_yaw) * Vector2f(-1.0f, 0.0f); _acceleration_setpoint.xy() = tmp * tanf(math::radians(_param_pitch_cruise_degrees)) * CONSTANTS_ONE_G; // slowly move vertical velocity setpoint to zero