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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-30 11:26:58 -0700 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-10-30 11:26:58 -0700 |
| commit | 9e74f178c9945bbe117c6ac4336f06968419b14f (patch) | |
| tree | 3bee6f0fdef6cef9585bcc95ac17a75b9c6153ed | |
| parent | 0fa03e65ab3ab0e173e487b3e5f5321780f3afff (diff) | |
| parent | 2733a54fe201e060ad08aac8dfd02caeed12b08c (diff) | |
| download | px4-firmware-9e74f178c9945bbe117c6ac4336f06968419b14f.tar.gz px4-firmware-9e74f178c9945bbe117c6ac4336f06968419b14f.tar.bz2 px4-firmware-9e74f178c9945bbe117c6ac4336f06968419b14f.zip | |
Merge pull request #496 from PX4/wp_yaw_fix
missionlib: waypoint yaw fix
| -rw-r--r-- | src/modules/mavlink/missionlib.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/mavlink/missionlib.c b/src/modules/mavlink/missionlib.c index e8d707948..d37b18a19 100644 --- a/src/modules/mavlink/missionlib.c +++ b/src/modules/mavlink/missionlib.c @@ -220,7 +220,7 @@ void mavlink_missionlib_current_waypoint_changed(uint16_t index, float param1, sp.lon = param6_lon_y * 1e7f; sp.altitude = param7_alt_z; sp.altitude_is_relative = false; - sp.yaw = (param4 / 180.0f) * M_PI_F - M_PI_F; + sp.yaw = _wrap_pi(param4 / 180.0f * M_PI_F); set_special_fields(param1, param2, param3, param4, command, &sp); /* Initialize setpoint publication if necessary */ |