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FigureEight: Refactor initialization

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Konrad
2023-11-17 10:32:43 +01:00
committed by KonradRudin
parent ef20708a98
commit a73409c015
3 changed files with 85 additions and 64 deletions
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src/modules/fw_pos_control/FixedwingPositionControl.cpp
-2
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@@ -1262,8 +1262,6 @@ FixedwingPositionControl::controlAutoFigureEight(const float control_interval, c
params.loiter_orientation = pos_sp_curr.loiter_orientation;
params.loiter_radius = pos_sp_curr.loiter_radius;
_figure_eight.initializePattern(curr_pos_local, ground_speed, params);
// Apply control
_figure_eight.updateSetpoint(curr_pos_local, ground_speed, params, target_airspeed);
_att_sp.roll_body = _figure_eight.getRollSetpoint();