FlightTaskOrbit: default center at exact vehicle location

4 years ago · 25dd12382a
1 changed files with 0 additions and 1 deletions
--- a/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
@ -167,7 +167,6 @@ bool FlightTaskOrbit::activate(const vehicle_local_position_setpoint_s &last_set
				@@ -167,7 +167,6 @@ bool FlightTaskOrbit::activate(const vehicle_local_position_setpoint_s &last_set
 	_r = _radius_min;
 	_v =  1.f;
 	_center = _position.xy();
-	_center(0) -= _r;
 	_initial_heading = _yaw;
 	_slew_rate_yaw.setForcedValue(_yaw);
 	_slew_rate_yaw.setSlewRate(math::radians(_param_mpc_yawrauto_max.get()));