From 993d76c0da61b29f8ac601c8739b26a5609e8b5e Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 7 May 2018 15:24:15 +0200 Subject: [PATCH] FlightTaskOrbit: fix vehicle yawing to the center I accidentally swapped yaw setpoint and yawspeed setpoint when switching to the new setpointinterface in 309237c4a2824e43875deb39ef731387a3eaeae8 --- src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp index 4918e6f11a..a8bb2f70a4 100644 --- a/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp +++ b/src/lib/FlightTasks/tasks/FlightTaskOrbit.cpp @@ -101,6 +101,6 @@ bool FlightTaskOrbit::update() _velocity_setpoint = Vector3f(velocity_xy(0), velocity_xy(1), 0.f); /* make vehicle front always point towards the center */ - _yawspeed_setpoint = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F; + _yaw_setpoint = atan2f(center_to_position(1), center_to_position(0)) + M_PI_F; return true; }