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RLT: set yaw to current yaw during climb

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Dennis Mannhart
2018-03-23 11:01:47 +01:00
committed by Dennis Mannhart
parent 998a95db55
commit c76621bdb2
2 changed files with 2 additions and 3 deletions
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src/modules/navigator/mission.cpp
+1 -2
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@@ -54,7 +54,6 @@
#include <systemlib/mavlink_log.h>
#include <systemlib/err.h>
#include <lib/ecl/geo/geo.h>
#include <lib/mathlib/mathlib.h>
#include <navigator/navigation.h>
#include <uORB/uORB.h>
#include <uORB/topics/mission.h>
@@ -1227,7 +1226,7 @@ Mission::heading_sp_update()
point_from_latlon[1], point_to_latlon[0], point_to_latlon[1]);
if (d_current > _navigator->get_acceptance_radius()) {
float yaw = _wrap_pi(
float yaw = wrap_pi(
get_bearing_to_next_waypoint(point_from_latlon[0],
point_from_latlon[1], point_to_latlon[0],
point_to_latlon[1]) + yaw_offset);
src/modules/navigator/rtl.cpp
+1 -1
View File
@@ -155,7 +155,7 @@ RTL::set_rtl_item()
_mission_item.lon = gpos.lon;
_mission_item.altitude = return_alt;
_mission_item.altitude_is_relative = false;
_mission_item.yaw = NAN;
_mission_item.yaw = _navigator->get_local_position()->yaw;
_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
_mission_item.time_inside = 0.0f;
_mission_item.autocontinue = true;