From a570390dfb473870201c9c7bec6af150c12341dd Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Sun, 5 Nov 2017 22:09:50 +0100
Subject: [PATCH] FlightTasks: enable usage of yaw setpoint through position
 controller

---
 src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp b/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
index 0ea7232061..7539f9575a 100644
--- a/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
+++ b/src/lib/FlightTasks/tasks/FlightTaskOrbit.hpp
@@ -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;
 	};