From 25de837c23f79c4bdd6d341f21b504cd3a03f70c Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Fri, 7 Dec 2018 13:05:13 +0000
Subject: [PATCH] FlightTaskOrbit: fix rotation direction in telemetry
---
src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
index 812fb1608d..0862bfcbd3 100644
--- a/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
+++ b/src/lib/FlightTasks/tasks/Orbit/FlightTaskOrbit.cpp
@@ -99,7 +99,7 @@ bool FlightTaskOrbit::sendTelemetry()
{
orbit_status_s _orbit_status = {};
_orbit_status.timestamp = hrt_absolute_time();
- _orbit_status.radius = _r;
+ _orbit_status.radius = math::signNoZero(_v) * _r;
_orbit_status.frame = 0; // MAV_FRAME::MAV_FRAME_GLOBAL
if (globallocalconverter_toglobal(_center(0), _center(1), _position_setpoint(2), &_orbit_status.x, &_orbit_status.y,
--
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