AC_PrecLand - Correct yaw sign when using LOCAL_FRD frame in landing_target mavlink messages. #31659
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Hi @henry-sensoriis, Thanks for this. Could you correct the commit title to be prefixed with "AC_PrecLand: "? If you peek at our commit history you'll see we always prefix the commit with the subsystem affected because it makes backporting easier. .. and of course, I mean the commit title not the PR title. It might also be a good idea to shorten the title and put the extra into the description of the commit. |
Corrected both yaw rotation in the AC_PrecLand module, and underlying sign error in autotest/arducopter.py where different rotation directions were used for BODY_FRD and LOCAL_FRD incorrectly.
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Amended the commit title and description! @rmackay9 |
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Thanks for this. As a reminder to myself, this probably means I need to fix the BlueOS precision landing extension as well! |
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Removed negative sign when rotating from LOCAL_FRD landing target message positions to NED frame. This was likely introduced due to an underlying bug in the copter autotest.py script where BODY_FRD and LOCAL_FRD (both body yaw-aligned frames) had different direction of rotations.