From b8b46f84937de331e316c3d8079b73c9f825baaf Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 13 Jul 2020 08:50:42 +0200 Subject: [PATCH] FlightTaskOrbit: use yaw setpoint from Altitude task with RC yaw mode --- src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp b/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp index b2a7d8365b..4e2a91aabf 100644 --- a/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp +++ b/src/lib/flight_tasks/tasks/Orbit/FlightTaskOrbit.cpp @@ -256,8 +256,7 @@ void FlightTaskOrbit::generate_circle_yaw_setpoints(Vector2f center_to_position) break; case orbit_status_s::ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED: - _yaw_setpoint = NAN; - _yawspeed_setpoint = _sticks.getPositionExpo()(3); + // inherit setpoint from altitude flight task break; case orbit_status_s::ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TO_CIRCLE_CENTER: