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Fix

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This commit is contained in:
Oleg Kalachev
2022-12-24 00:41:56 +03:00
parent d66eda5cd2
commit 55b613da23
1 changed files with 2 additions and 1 deletions
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clover/src/simple_offboard.cpp
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@@ -489,13 +489,14 @@ void publish(const ros::Time stamp)
// compute navigate setpoint
if (setpoint_type == NAVIGATE || setpoint_type == NAVIGATE_GLOBAL) {
getNavigateSetpoint(stamp, nav_speed, position_msg.pose.position);
if (setpoint_yaw_type == TOWARDS) {
yaw_local = atan2(position_msg.pose.position.y - nav_start.pose.position.y,
position_msg.pose.position.x - nav_start.pose.position.x);
}
position_msg.pose.orientation = tf::createQuaternionMsgFromYaw(yaw_local);
getNavigateSetpoint(stamp, nav_speed, position_msg.pose.position);
}
if (setpoint_type == POSITION) {