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FW Position Controller: fix publishing of negative loiter directions (CCW) 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2022-09-14 17:31:04 +02:00 committed by Daniel Agar
parent 7a760c8c6e
commit 5f0fc7aaf1
1 changed files with 1 additions and 1 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
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@ -2734,7 +2734,7 @@ void FixedwingPositionControl::publishOrbitStatus(const position_setpoint_s pos_
orbit_status_s orbit_status{};
orbit_status.timestamp = hrt_absolute_time();
float loiter_radius = pos_sp.loiter_radius;
uint8_t loiter_direction = pos_sp.loiter_direction;
int8_t loiter_direction = pos_sp.loiter_direction;
if (fabsf(loiter_radius) < FLT_EPSILON) {
loiter_radius = _param_nav_loiter_rad.get();