From ce39a186db8f5d1242605cfe38338600db861b3e Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Wed, 4 Dec 2024 10:50:35 +0300 Subject: [PATCH] added comment Signed-off-by: RomanBapst --- src/modules/fw_pos_control/FixedwingPositionControl.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp index 3bcee7226624..a15f1e8f7154 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -2368,6 +2368,7 @@ void FixedwingPositionControl::control_backtransition_heading_hold() true_airspeed = _performance_model.getCalibratedTrimAirspeed() * _eas2tas; } + // we can achieve heading control by setting airspeed and groundspeed vector equal const Vector2f airspeed_vector = Vector2f(cosf(_local_pos.heading), sinf(_local_pos.heading)) * true_airspeed; const Vector2f &ground_speed = airspeed_vector;