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fw pos ctrl: fix virtual waypoint calculation typo

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This commit is contained in:
Thomas Stastny
2022-07-14 00:34:02 +02:00
committed by Daniel Agar
parent 8f5b274e72
commit 7283cd7c9d
1 changed files with 2 additions and 2 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -2
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@@ -1775,11 +1775,11 @@ FixedwingPositionControl::control_auto_landing(const hrt_abstime &now, const flo
// make a fake waypoint beyond the land point in the direction of the landing approach bearing
// (always HDG_HOLD_DIST_NEXT meters in front of the aircraft's progress along the landing approach vector)
const float along_track_distance_from_entrance = local_approach_entrance.unit_or_zero().dot(
const float along_track_distance_from_entrance = landing_approach_vector.unit_or_zero().dot(
local_position - local_approach_entrance);
const Vector2f virtual_waypoint = local_approach_entrance + (along_track_distance_from_entrance + HDG_HOLD_DIST_NEXT) *
local_approach_entrance.unit_or_zero();
landing_approach_vector.unit_or_zero();
_l1_control.navigate_waypoints(local_approach_entrance, virtual_waypoint, local_position, ground_speed);
_att_sp.roll_body = _l1_control.get_roll_setpoint();