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Sub: integrate attitude control inertial_frame_reset

This commit is contained in:
Randy Mackay 2018-01-27 12:45:07 +09:00
parent 2154d08185
commit 01d1d41302
1 changed files with 2 additions and 2 deletions
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4
ArduSub/Attitude.cpp
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@ -43,10 +43,10 @@ float Sub::get_pilot_desired_yaw_rate(int16_t stick_angle)
// check for ekf yaw reset and adjust target heading
void Sub::check_ekf_yaw_reset()
{
float yaw_angle_change_rad = 0.0f;
float yaw_angle_change_rad;
uint32_t new_ekfYawReset_ms = ahrs.getLastYawResetAngle(yaw_angle_change_rad);
if (new_ekfYawReset_ms != ekfYawReset_ms) {
attitude_control.shift_ef_yaw_target(ToDeg(yaw_angle_change_rad) * 100.0f);
attitude_control.inertial_frame_reset();
ekfYawReset_ms = new_ekfYawReset_ms;
}
}