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Use NAV_OFS parameters

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This commit is contained in:
Marek S. Łukasiewicz 2025-11-19 16:10:25 +01:00
parent 2b147e4479
commit 6226ebb74f
2 changed files with 5 additions and 2 deletions
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5
src/marshconnector.cpp
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@ -221,7 +221,10 @@ float MarshConnector::get_parameter(const String &id) {
}
Transform3D MarshConnector::get_aircraft() {
return Transform3D{Basis{last_rotation}, last_location};
float heading_rad = parameters[NAV_OFS_HDG] * Math_PI / 180.0;
Quaternion heading_offset = Quaternion(Vector3(0, 1, 0), heading_rad);
Quaternion rotation = heading_offset * last_rotation;
return Transform3D{Basis{rotation}, last_location + Vector3{-parameters[NAV_OFS_Y], 0.0, parameters[NAV_OFS_X]}};
}
Vector2 MarshConnector::get_cyclic() {