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FlightTaskOrbit: fix rotation direction in telemetry

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Matthias Grob
2018-12-07 13:05:13 +00:00
parent d4a40f5d99
commit 25de837c23
1 changed files with 1 additions and 1 deletions
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src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
+1 -1
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@@ -99,7 +99,7 @@ bool FlightTaskOrbit::sendTelemetry()
{ {
orbit_status_s _orbit_status = {}; orbit_status_s _orbit_status = {};
_orbit_status.timestamp = hrt_absolute_time(); _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 _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, if (globallocalconverter_toglobal(_center(0), _center(1), _position_setpoint(2), &_orbit_status.x, &_orbit_status.y,