FlightTaskOrbit: fix rotation direction in telemetry

6 years ago · 25de837c23
1 changed files with 1 additions and 1 deletions
--- a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
@ -99,7 +99,7 @@ bool FlightTaskOrbit::sendTelemetry()
				@@ -99,7 +99,7 @@ bool FlightTaskOrbit::sendTelemetry()
 {
 	orbit_status_s _orbit_status = {};
 	_orbit_status.timestamp = hrt_absolute_time();
-	_orbit_status.radius = _r;
+	_orbit_status.radius = math::signNoZero(_v) * _r;
 	_orbit_status.frame = 0; // MAV_FRAME::MAV_FRAME_GLOBAL

 	if (globallocalconverter_toglobal(_center(0), _center(1), _position_setpoint(2),  &_orbit_status.x, &_orbit_status.y,