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FW L1 controller: when loitering, set the yaw setpoint to be tangentially to loiter circle

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2021-10-19 15:40:56 +02:00
parent 4f708d7a6f
commit f61491995b
1 changed files with 3 additions and 2 deletions
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src/lib/l1/ECL_L1_Pos_Controller.cpp
+3 -2
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@@ -306,8 +306,9 @@ ECL_L1_Pos_Controller::navigate_loiter(const Vector2d &vector_A, const Vector2d
_lateral_accel = lateral_accel_sp_circle;
_circle_mode = true;
_bearing_error = 0.0f;
/* bearing from current position to L1 point */
_nav_bearing = atan2f(-vector_A_to_airplane_unit(1), -vector_A_to_airplane_unit(0));
// once loitering, the bearing is tangentially to the loiter,
// so subtract PI/2 from the bearing from current position to loiter center
_nav_bearing = atan2f(-vector_A_to_airplane_unit(1), -vector_A_to_airplane_unit(0)) - M_PI_2_F;
}
update_roll_setpoint();