Commit 599421b9 authored by DonLakeFlyer's avatar DonLakeFlyer

Fix incorrect loiter point rotate on landing heading fact change

parent 872b4faf
......@@ -227,10 +227,15 @@ void FixedWingLandingComplexItem::_recalcLoiterCoordFromFacts(void)
convertGeoToNed(_landingCoordinate, tangentOrigin, &north, &east, &down);
// Heading is from loiter to land, so we need to rotate angle 180 degrees and go the opposite direction
double heading = _landingHeadingFact.rawValue().toDouble();
heading += 180.0;
heading *= -1.0;
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, heading);
convertNedToGeo(rotatedLoiterPoint.y(), rotatedLoiterPoint.x(), down, tangentOrigin, &_loiterCoordinate);
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment