From 7b850a91b46d414af7314127064ee30bf22e219e Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Fri, 14 Apr 2023 15:06:53 +0200 Subject: [PATCH] Sicks: use new 2D rotation --- src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp b/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp index 19388bc4ad..575da6e353 100644 --- a/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp +++ b/src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp @@ -95,7 +95,6 @@ void Sticks::limitStickUnitLengthXY(Vector2f &v) void Sticks::rotateIntoHeadingFrameXY(Vector2f &v, const float yaw, const float yaw_setpoint) { - Vector3f v3(v(0), v(1), 0.f); const float yaw_rotate = PX4_ISFINITE(yaw_setpoint) ? yaw_setpoint : yaw; - v = Vector2f(Dcmf(Eulerf(0.0f, 0.0f, yaw_rotate)) * v3); + v = Dcm2f(yaw_rotate) * v; }