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Copter: use new functions

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This commit is contained in:
Andrew Tridgell 2012-12-19 13:35:29 +11:00
parent be39ccf02c
commit 06357c40f2
2 changed files with 3 additions and 3 deletions
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4
ArduCopter/ArduCopter.pde
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@ -1660,8 +1660,8 @@ void update_roll_pitch_mode(void)
update_simple_mode();
}
// mix in user control with Nav control
nav_roll += constrain(wrap_180(auto_roll - nav_roll), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
nav_pitch += constrain(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
nav_roll += constrain_int32(wrap_180(auto_roll - nav_roll), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
nav_pitch += constrain_int32(wrap_180(auto_pitch - nav_pitch), -g.auto_slew_rate.get(), g.auto_slew_rate.get()); // 40 deg a second
control_roll = g.rc_1.control_mix(nav_roll);
control_pitch = g.rc_2.control_mix(nav_pitch);

2
ArduCopter/test.pde
View File

@ -473,7 +473,7 @@ test_ins(uint8_t argc, const Menu::arg *argv)
accel = ins.get_accel();
temp = ins.temperature();
float test = sqrt(sq(accel.x) + sq(accel.y) + sq(accel.z)) / 9.80665;
float test = accel.length() / 9.80665;
cliSerial->printf_P(PSTR("a %7.4f %7.4f %7.4f g %7.4f %7.4f %7.4f t %74f | %7.4f\n"),
accel.x, accel.y, accel.z,