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vmount: use absolute angle for location tracking

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I'm pretty sure it makes more sense to use an absolute angle to track a
lat/lon location.
This commit is contained in:
Julian Oes
2021-07-16 11:44:09 +02:00
committed by Daniel Agar
parent d88f9353e8
commit 6d74b390d9
1 changed files with 3 additions and 2 deletions
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src/modules/vmount/output.cpp
+3 -2
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@@ -41,7 +41,6 @@
#include "output.h"
#include <errno.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/mount_orientation.h>
@@ -178,7 +177,9 @@ void OutputBase::_handle_position_update(bool force_update)
_cur_control_data->type_data.lonlat.pitch_fixed_angle :
_calculate_pitch(lon, lat, alt, vehicle_global_position);
float yaw = get_bearing_to_next_waypoint(vlat, vlon, lat, lon) - vehicle_local_position.heading;
float yaw = get_bearing_to_next_waypoint(vlat, vlon, lat, lon);
// We set the yaw angle in the absolute frame in this case.
_absolute_angle[2] = true;
// add offsets from VEHICLE_CMD_DO_SET_ROI_WPNEXT_OFFSET
pitch += _cur_control_data->type_data.lonlat.pitch_angle_offset;