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replace geo _wrap_pi with matrix::wrap_pi

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This commit is contained in:
Daniel Agar
2018-06-12 09:00:52 +02:00
committed by Lorenz Meier
parent 518daa4a8d
commit d0bde9ab2a
14 changed files with 60 additions and 313 deletions
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src/modules/navigator/mission.cpp
+3 -1
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@@ -60,6 +60,8 @@
#include <uORB/topics/mission.h>
#include <uORB/topics/mission_result.h>
using matrix::wrap_pi;
Mission::Mission(Navigator *navigator) :
MissionBlock(navigator),
ModuleParams(navigator)
@@ -1245,7 +1247,7 @@ Mission::heading_sp_update()
/* always keep the back of the rotary wing pointing towards home */
if (_param_yawmode.get() == MISSION_YAWMODE_BACK_TO_HOME) {
_mission_item.yaw = _wrap_pi(yaw + M_PI_F);
_mission_item.yaw = wrap_pi(yaw + M_PI_F);
pos_sp_triplet->current.yaw = _mission_item.yaw;
} else if (_param_yawmode.get() == MISSION_YAWMODE_FRONT_TO_WAYPOINT