From 4d7e63a83e3c46b91cc3c2c9cd35e2d17e2a83bf Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Thu, 2 Mar 2017 18:35:51 -0800 Subject: [PATCH] Landing heading is from loiter to land Not the other way around --- src/MissionManager/FixedWingLandingComplexItem.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/MissionManager/FixedWingLandingComplexItem.cc b/src/MissionManager/FixedWingLandingComplexItem.cc index 3ec84230b7..4906a0afb2 100644 --- a/src/MissionManager/FixedWingLandingComplexItem.cc +++ b/src/MissionManager/FixedWingLandingComplexItem.cc @@ -230,7 +230,7 @@ void FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts(void) QPointF originPoint(east, north); north += _loiterToLandDistanceFact.rawValue().toDouble(); QPointF loiterPoint(east, north); - QPointF rotatedLoiterPoint = _rotatePoint(loiterPoint, originPoint, -_landingHeadingFact.rawValue().toDouble()); + QPointF rotatedLoiterPoint = _rotatePoint(loiterPoint, originPoint, _landingHeadingFact.rawValue().toDouble()); convertNedToGeo(rotatedLoiterPoint.y(), rotatedLoiterPoint.x(), down, tangentOrigin, &_loiterCoordinate); @@ -273,7 +273,7 @@ void FixedWingLandingComplexItem::_recalcFactsFromCoords(void) // Calc new heading - QPointF vector(eastLoiter - eastLand, northLoiter - northLand); + QPointF vector(eastLand - eastLoiter, northLand - northLoiter); double radians = atan2(vector.y(), vector.x()); double degrees = qRadiansToDegrees(radians); // Change angle to north up = 0 degrees -- GitLab