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FlightTaskOrbit: simplify tangential yaw_setpoint and pi wrap

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This commit is contained in:
Matthias Grob
2020-07-21 09:44:21 +02:00
parent 4d0aadbcd0
commit 8e4509c0a9
1 changed files with 2 additions and 9 deletions
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src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp
+2 -9
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@@ -245,15 +245,8 @@ void FlightTaskOrbit::generate_circle_yaw_setpoints(const Vector2f &center_to_po
break;
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE:
if (_r > 0) {
_yaw_setpoint = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F / 2.f;
} else {
_yaw_setpoint = atan2f(center_to_position(1), center_to_position(0)) - M_PI_F / 2.f;
}
_yaw_setpoint = wrap_pi(atan2f(center_to_position(1), center_to_position(0)) + (sign(_v) * M_PI_F / 2.f));
_yawspeed_setpoint = _v / _r;
break;
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED:
@@ -262,7 +255,7 @@ void FlightTaskOrbit::generate_circle_yaw_setpoints(const Vector2f &center_to_po
case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER:
default:
_yaw_setpoint = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
_yaw_setpoint = wrap_pi(atan2f(center_to_position(1), center_to_position(0)) + M_PI_F);
// yawspeed feed-forward because we know the necessary angular rate
_yawspeed_setpoint = _v / _r;
break;