Rename yawRotation to fakeToRealYawOffset

Also, add a small comment explaining the logic behind the home yaw adjustment.
shellixyz · May 22, 2018 · d624f65 · d624f65
1 parent 200a85a
commit d624f65
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c
@@ -1505,8 +1505,12 @@ void updateActualHeading(bool headingValid, int32_t newHeading)
  (posControl.homeFlags & (NAV_HOME_VALID_XY | NAV_HOME_VALID_Z)) &&
  (posControl.homeFlags & NAV_HOME_VALID_HEADING) == 0) {
 
- int32_t yawRotation = newHeading - posControl.actualState.yaw;
- posControl.homePosition.yaw += yawRotation;
+ // Home was stored using the fake heading (assuming boot as 0deg). Calculate
+ // the offset from the fake to the actual yaw and apply the same rotation
+ // to the home point.
+ int32_t fakeToRealYawOffset = newHeading - posControl.actualState.yaw;
+
+ posControl.homePosition.yaw += fakeToRealYawOffset;
  if (posControl.homePosition.yaw < 0) {
  posControl.homePosition.yaw += DEGREES_TO_CENTIDEGREES(360);
  }