From 5f0fc7aaf187e7fdfb1b1a8b15f874919db6cf9b Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 14 Sep 2022 17:31:04 +0200 Subject: [PATCH] FW Position Controller: fix publishing of negative loiter directions (CCW) Signed-off-by: Silvan Fuhrer --- 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 dc332cbeb3..60fe50f696 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -2734,7 +2734,7 @@ void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_ orbit_status_s orbit_status{}; orbit_status.timestamp = hrt_absolute_time(); float loiter_radius = pos_sp.loiter_radius; - uint8_t loiter_direction = pos_sp.loiter_direction; + int8_t loiter_direction = pos_sp.loiter_direction; if (fabsf(loiter_radius) < FLT_EPSILON) { loiter_radius = _param_nav_loiter_rad.get();