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FW Position Controller: mini fw_control_yaw_wheel refactoring

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-03-06 22:43:41 +01:00
parent 1e56d9c219
commit caee131e6a
2 changed files with 9 additions and 6 deletions
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src/modules/fw_path_navigation/FixedwingPositionControl.cpp
+2 -1
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@@ -1338,8 +1338,9 @@ FixedwingPositionControl::control_auto_takeoff(const hrt_abstime &now, const flo
}
// tune up the lateral position control guidance when on the ground
if (_att_sp.fw_control_yaw_wheel) {
if (_runway_takeoff.controlYaw()) {
_npfg.setPeriod(_param_rwto_npfg_period.get());
}
const Vector2f start_pos_local = _global_local_proj_ref.project(_runway_takeoff.getStartPosition()(0),