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FlightTaskTransition: use new 2D rotation

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This commit is contained in:
Matthias Grob
2023-04-14 15:55:03 +02:00
parent 7ebd6cc74f
commit 5c1e0ddd96
1 changed files with 3 additions and 4 deletions
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src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp
+3 -4
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@@ -36,7 +36,8 @@
*/ */
#include "FlightTaskTransition.hpp" #include "FlightTaskTransition.hpp"
#include "Sticks.hpp"
using namespace matrix;
FlightTaskTransition::FlightTaskTransition() FlightTaskTransition::FlightTaskTransition()
{ {
@@ -50,7 +51,6 @@ FlightTaskTransition::FlightTaskTransition()
bool FlightTaskTransition::updateInitialize() bool FlightTaskTransition::updateInitialize()
{ {
updateParameters(); updateParameters();
return FlightTask::updateInitialize(); return FlightTask::updateInitialize();
} }
@@ -110,8 +110,7 @@ bool FlightTaskTransition::update()
// calculate a horizontal acceleration vector which corresponds to an attitude composed of pitch up by _param_pitch_cruise_degrees // calculate a horizontal acceleration vector which corresponds to an attitude composed of pitch up by _param_pitch_cruise_degrees
// and zero roll angle // and zero roll angle
matrix::Vector2f tmp(-1.0f, 0.0f); const Vector2f tmp = Dcm2f(_yaw) * Vector2f(-1.0f, 0.0f);
Sticks::rotateIntoHeadingFrameXY(tmp, _yaw, NAN);
_acceleration_setpoint.xy() = tmp * tanf(math::radians(_param_pitch_cruise_degrees)) * CONSTANTS_ONE_G; _acceleration_setpoint.xy() = tmp * tanf(math::radians(_param_pitch_cruise_degrees)) * CONSTANTS_ONE_G;
// slowly move vertical velocity setpoint to zero // slowly move vertical velocity setpoint to zero