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AC_WPNav: Fix sign mistake in a sub-part of BendyRulerHorizontal

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Hunter McClelland
2026-04-27 20:29:16 +09:00
committed by Randy Mackay
parent c2e42377ce
commit a9ad30dbf9
1 changed files with 2 additions and 2 deletions
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libraries/AC_WPNav/AC_WPNav_OA.cpp
+2 -2
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@@ -242,7 +242,7 @@ bool AC_WPNav_OA::update_wpnav()
return false;
}
// Convert global destination to NEU vector and pass directly to position controller
// Convert global destination to NED vector and pass directly to position controller
Vector2f destination_ne_m;
if (!_oa_destination.get_vector_xy_from_origin_NE_m(destination_ne_m)) {
// this should never happen because we can only get here if we have an EKF origin
@@ -251,7 +251,7 @@ bool AC_WPNav_OA::update_wpnav()
}
float target_alt_loc_alt_m = 0;
UNUSED_RESULT(target_alt_loc.get_alt_m(target_alt_loc.get_alt_frame(), target_alt_loc_alt_m));
Vector3p destination_ned_m{destination_ne_m.x, destination_ne_m.y, target_alt_loc_alt_m};
Vector3p destination_ned_m{destination_ne_m.x, destination_ne_m.y, -target_alt_loc_alt_m};
// pass the desired position directly to the position controller
_pos_control.input_pos_NED_m(destination_ned_m, terrain_d_m, 10.0);