Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-25 08:36:08 +08:00
Code Issues Actions 7 Packages Projects Releases Wiki Activity

FlightTaskOrbit: fix rotation direction from command

Browse Source
This commit is contained in:
Matthias Grob
2018-12-06 10:55:31 +01:00
parent 25aa2b9c8c
commit 8b419efa2c
1 changed files with 5 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
+5 -2
View File
@@ -55,6 +55,8 @@ FlightTaskOrbit::~FlightTaskOrbit()
bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
{
bool ret = true;
// save previous velocity and roatation direction
float v = fabsf(_v);
bool clockwise = _v > 0;
// commanded radius
@@ -66,10 +68,11 @@ bool FlightTaskOrbit::applyCommandParameters(const vehicle_command_s &command)
// commanded velocity, take sign of radius as rotation direction
if (PX4_ISFINITE(command.param2)) {
const float v = command.param2 * (clockwise ? 1.f : -1.f);
ret = ret && setVelocity(v);
v = command.param2;
}
ret = ret && setVelocity(v * (clockwise ? 1.f : -1.f));
// TODO: apply x,y / z independently in geo library
// commanded center coordinates
// if(PX4_ISFINITE(command.param5) && PX4_ISFINITE(command.param6)) {