Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-01 02:55:07 +08:00
Code Issues Actions 19 Packages Projects Releases Wiki Activity

vmount: compute gimbal yaw setpoint relative to vehicle yaw

Browse Source
This commit is contained in:
Nicolas de Palezieux
2018-01-08 11:03:39 +01:00
committed by Lorenz Meier
parent d8164377a8
commit 0fd043af01
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/vmount/output.cpp
+2 -1
View File
@@ -187,7 +187,8 @@ void OutputBase::_handle_position_update(bool force_update)
} }
float roll = _cur_control_data->type_data.lonlat.roll_angle; float roll = _cur_control_data->type_data.lonlat.roll_angle;
float yaw = get_bearing_to_next_waypoint(vehicle_global_position.lat, vehicle_global_position.lon, lat, lon); float yaw = get_bearing_to_next_waypoint(vehicle_global_position.lat, vehicle_global_position.lon, lat, lon)
- vehicle_global_position.yaw;
_angle_setpoints[0] = roll; _angle_setpoints[0] = roll;
_angle_setpoints[1] = pitch; _angle_setpoints[1] = pitch;