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FlightTasks: enable usage of yaw setpoint through position controller

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Matthias Grob
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent e49f80eaa8
commit a570390dfb
1 changed files with 2 additions and 0 deletions
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src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
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@@ -99,9 +99,11 @@ public:
/* xy velocity adjustment to stay on the radius distance */
velocity_xy += (r - center_to_position.norm()) * center_to_position.normalized();
float yaw = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F;
_set_position_setpoint(matrix::Vector3f(NAN, NAN, z));
_set_velocity_setpoint(matrix::Vector3f(velocity_xy(0), velocity_xy(1), 0.f));
_set_yaw_setpoint(yaw);
return ret;
};