Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: quadplane integrates attitude control inertial_frame_reset

This commit is contained in:
Randy Mackay 2018-01-27 12:45:46 +09:00
parent 03c162432e
commit 09cad7c59d
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduPlane/quadplane.cpp
View File

@ -764,7 +764,7 @@ void QuadPlane::check_yaw_reset(void)
float yaw_angle_change_rad = 0.0f;
uint32_t new_ekfYawReset_ms = ahrs.getLastYawResetAngle(yaw_angle_change_rad);
if (new_ekfYawReset_ms != ekfYawReset_ms) {
attitude_control->shift_ef_yaw_target(degrees(yaw_angle_change_rad) * 100);
attitude_control->inertial_frame_reset();
ekfYawReset_ms = new_ekfYawReset_ms;
gcs().send_text(MAV_SEVERITY_INFO, "EKF yaw reset %.2f", (double)degrees(yaw_angle_change_rad));
}