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Commit 4d7e63a8 authored by Don Gagne's avatar Don Gagne
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Landing heading is from loiter to land 

Not the other way around
parent 63b29b1c
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Showing with 2 additions and 2 deletions
src/MissionManager/FixedWingLandingComplexItem.cc
View file @ 4d7e63a8
...@@ -230,7 +230,7 @@ void FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts(void) ...@@ -230,7 +230,7 @@ void FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts(void)
QPointF originPoint(east, north); QPointF originPoint(east, north);
north += _loiterToLandDistanceFact.rawValue().toDouble(); north += _loiterToLandDistanceFact.rawValue().toDouble();
QPointF loiterPoint(east, north); 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); convertNedToGeo(rotatedLoiterPoint.y(), rotatedLoiterPoint.x(), down, tangentOrigin, &_loiterCoordinate);
...@@ -273,7 +273,7 @@ void FixedWingLandingComplexItem::_recalcFactsFromCoords(void) ...@@ -273,7 +273,7 @@ void FixedWingLandingComplexItem::_recalcFactsFromCoords(void)
// Calc new heading // Calc new heading
QPointF vector(eastLoiter - eastLand, northLoiter - northLand); QPointF vector(eastLand - eastLoiter, northLand - northLoiter);
double radians = atan2(vector.y(), vector.x()); double radians = atan2(vector.y(), vector.x());
double degrees = qRadiansToDegrees(radians); double degrees = qRadiansToDegrees(radians);
// Change angle to north up = 0 degrees // Change angle to north up = 0 degrees
......
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