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qgroundcontrol
Commit 19307324 authored by Lorenz Meier's avatar Lorenz Meier
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Fixed yaw representation when translating from XPlane

parent d953c007
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src/comm/QGCXPlaneLink.cc
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...@@ -450,6 +450,13 @@ void QGCXPlaneLink::readBytes() ...@@ -450,6 +450,13 @@ void QGCXPlaneLink::readBytes()
pitch = p.f[0] / 180.0f * M_PI; pitch = p.f[0] / 180.0f * M_PI;
roll = p.f[1] / 180.0f * M_PI; roll = p.f[1] / 180.0f * M_PI;
yaw = p.f[2] / 180.0f * M_PI; yaw = p.f[2] / 180.0f * M_PI;
// X-Plane expresses yaw as 0..2 PI
if (yaw > M_PI) {
yaw -= 2.0 * M_PI;
}
if (yaw < -M_PI) {
yaw += 2.0 * M_PI;
}
emitUpdate = true; emitUpdate = true;
} }
else if ((xPlaneVersion == 9 && p.index == 17)) else if ((xPlaneVersion == 9 && p.index == 17))
......
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