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Added yaw to CMD_DO_SET_HOME #14810

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merged 1 commit into from
Sep 11, 2021
Merged

Added yaw to CMD_DO_SET_HOME #14810

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5 changes: 4 additions & 1 deletion src/modules/commander/Commander.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@
#include <math.h>
#include <float.h>
#include <cstring>
#include <matrix/math.hpp>

#include <uORB/topics/mavlink_log.h>

Expand Down Expand Up @@ -958,6 +959,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
}

} else {
float yaw = matrix::wrap_2pi(math::radians(cmd.param4));
yaw = PX4_ISFINITE(yaw) ? yaw : NAN;
const double lat = cmd.param5;
const double lon = cmd.param6;
const float alt = cmd.param7;
Expand All @@ -981,7 +984,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
float home_y;
map_projection_project(&ref_pos, lat, lon, &home_x, &home_y);
const float home_z = -(alt - local_pos.ref_alt);
fillLocalHomePos(home, home_x, home_y, home_z, 0.f);
fillLocalHomePos(home, home_x, home_y, home_z, yaw);

/* mark home position as set */
_status_flags.condition_home_position_valid = _home_pub.update(home);
Expand Down