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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 12:05:12 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-08-24 12:05:12 +0200 |
| commit | ef0a0a1a6e86aff79a0fd8829ca5c86244fa39bc (patch) | |
| tree | 837968996417e83a589c82c43cf522dc06fe2bb7 /src/modules/bottle_drop | |
| parent | d604985e080f1c04278f5f28acf0eaaf3b334041 (diff) | |
| download | px4-firmware-ef0a0a1a6e86aff79a0fd8829ca5c86244fa39bc.tar.gz px4-firmware-ef0a0a1a6e86aff79a0fd8829ca5c86244fa39bc.tar.bz2 px4-firmware-ef0a0a1a6e86aff79a0fd8829ca5c86244fa39bc.zip | |
Fix drop offset: We want to drop so that the wind carries the bottle into the drop zone
Diffstat (limited to 'src/modules/bottle_drop')
| -rw-r--r-- | src/modules/bottle_drop/bottle_drop.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/bottle_drop/bottle_drop.cpp b/src/modules/bottle_drop/bottle_drop.cpp index 3eec5a879..65eca1a62 100644 --- a/src/modules/bottle_drop/bottle_drop.cpp +++ b/src/modules/bottle_drop/bottle_drop.cpp @@ -566,8 +566,8 @@ BottleDrop::task_main() wind_direction_e = wind.windspeed_east / windspeed_norm; } - x_drop = x_t + x * wind_direction_n; - y_drop = y_t + x * wind_direction_e; + x_drop = x_t - x * wind_direction_n; + y_drop = y_t - x * wind_direction_e; map_projection_reproject(&ref, x_drop, y_drop, &_drop_position.lat, &_drop_position.lon); _drop_position.alt = _target_position.alt + _alt_clearance; |