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Fix order of applying NAV_OFS

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Marek S. Łukasiewicz 2025-11-20 15:40:48 +01:00
parent 6226ebb74f
commit ec4c9c7947
1 changed files with 3 additions and 2 deletions
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5
src/marshconnector.cpp
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@ -223,8 +223,9 @@ float MarshConnector::get_parameter(const String &id) {
Transform3D MarshConnector::get_aircraft() { Transform3D MarshConnector::get_aircraft() {
float heading_rad = parameters[NAV_OFS_HDG] * Math_PI / 180.0; float heading_rad = parameters[NAV_OFS_HDG] * Math_PI / 180.0;
Quaternion heading_offset = Quaternion(Vector3(0, 1, 0), heading_rad); Quaternion heading_offset = Quaternion(Vector3(0, 1, 0), heading_rad);
Quaternion rotation = heading_offset * last_rotation; Transform3D offset{Basis{heading_offset}, Vector3{-parameters[NAV_OFS_Y], 0.0, parameters[NAV_OFS_X]}};
return Transform3D{Basis{rotation}, last_location + Vector3{-parameters[NAV_OFS_Y], 0.0, parameters[NAV_OFS_X]}}; Transform3D marsh{Basis{last_rotation}, last_location};
return offset * marsh;
} }
Vector2 MarshConnector::get_cyclic() { Vector2 MarshConnector::get_cyclic() {