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vmount: add missing yaw wrap at the end of a ROI update

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Matthias Grob
2019-02-22 17:41:36 +01:00
committed by Daniel Agar
parent 35409b4079
commit 93ef70c43d
1 changed files with 4 additions and 0 deletions
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src/modules/vmount/output.cpp
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@@ -51,6 +51,8 @@
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
#include <matrix/math.hpp> #include <matrix/math.hpp>
using matrix::wrap_pi;
namespace vmount namespace vmount
{ {
@@ -197,6 +199,8 @@ void OutputBase::_handle_position_update(bool force_update)
_angle_setpoints[1] += _cur_control_data->type_data.lonlat.pitch_angle_offset; _angle_setpoints[1] += _cur_control_data->type_data.lonlat.pitch_angle_offset;
_angle_setpoints[2] += _cur_control_data->type_data.lonlat.yaw_angle_offset; _angle_setpoints[2] += _cur_control_data->type_data.lonlat.yaw_angle_offset;
// make sure yaw is wrapped correctly for the output
_angle_setpoints[2] = wrap_pi(_angle_setpoints[2]);
} }
void OutputBase::_calculate_output_angles(const hrt_abstime &t) void OutputBase::_calculate_output_angles(const hrt_abstime &t)