FlightTaskManualPosition: use axis angle to rotate into world frame

src/lib/FlightTasks/tasks/FlightTaskManualPosition.cpp

@@ -74,9 +74,9 @@ void FlightTaskManualPosition::_scaleSticks()
 	_vel_sp_xy = stick_xy * _vel_xy_manual_max.get();
 
 	/* Rotate setpoint into local frame. */
-	matrix::Vector3f vel_sp{_vel_sp_xy(0), _vel_sp_xy(1), 0.0f};
-	vel_sp = (matrix::Dcmf(matrix::Eulerf(0.0f, 0.0f, _yaw)) * vel_sp);
-	_vel_sp_xy = matrix::Vector2f(vel_sp(0), vel_sp(1));
+	matrix::Quatf q_yaw = matrix::AxisAnglef(matrix::Vector3f(0.0f, 0.0f, 1.0f), _yaw);
+	matrix::Vector3f vel_world = q_yaw.conjugate(matrix::Vector3f(_vel_sp_xy(0), _vel_sp_xy(1), 0.0f));
+	_vel_sp_xy = matrix::Vector2f(vel_world(0), vel_world(1));
 }
 
 void FlightTaskManualPosition::_updateXYlock()
@@ -90,6 +90,7 @@ void FlightTaskManualPosition::_updateXYlock()
 		_pos_sp_xy = matrix::Vector2f(&_position(0));
 
 	} else if (!apply_brake) {
+		/* Don't use position setpoint */
 		_pos_sp_xy = _pos_sp_xy * NAN;
 	}
 }