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ArduPlane: add body-frame yaw mode for tailsitters

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Mark Whitehorn 2019-03-02 14:06:38 -07:00 committed by Andrew Tridgell
parent 872c3df45c
commit 01d6f1d932
1 changed files with 5 additions and 1 deletions
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6
ArduPlane/quadplane.cpp
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@ -739,7 +739,11 @@ void QuadPlane::multicopter_attitude_rate_update(float yaw_rate_cds)
if (in_vtol_mode() || is_tailsitter()) {
// use euler angle attitude control
attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(plane.nav_roll_cd,
// this version interprets the first argument as a rate and the third as an angle
// because it is intended to be used with Q_TAILSIT_INPUT=1 where the roll and yaw sticks
// act in the tailsitter's body frame (i.e. roll is MC/earth frame yaw and
// yaw is MC/earth frame roll)
attitude_control->input_euler_rate_yaw_euler_angle_pitch_bf_roll(plane.nav_roll_cd,
plane.nav_pitch_cd,
yaw_rate_cds);
} else {