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AC_AttControl: add shift_ef_yaw_target 

This allows shifting the target heading in case the EKF shifts it's
heading estimate
This commit is contained in:
Randy Mackay 2015-06-23 16:49:12 +09:00
parent e3ccb74e12
commit 1e3e65e443
2 changed files with 9 additions and 0 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -86,6 +86,12 @@ void AC_AttitudeControl::relax_bf_rate_controller()
_pid_rate_yaw.reset_I();
}
// shifts earth frame yaw target by yaw_shift_cd. yaw_shift_cd should be in centi-degreesa and is added to the current target heading
void AC_AttitudeControl::shift_ef_yaw_target(float yaw_shift_cd)
{
_angle_ef_target.z = wrap_360_cd_float(_angle_ef_target.z + yaw_shift_cd);
}
//
// methods to be called by upper controllers to request and implement a desired attitude
//

3
libraries/AC_AttitudeControl/AC_AttitudeControl.h
View File

@ -111,6 +111,9 @@ public:
// set_yaw_target_to_current_heading - sets yaw target to current heading
void set_yaw_target_to_current_heading() { _angle_ef_target.z = _ahrs.yaw_sensor; }
// shifts earth frame yaw target by yaw_shift_cd. yaw_shift_cd should be in centi-degreesa and is added to the current target heading
void shift_ef_yaw_target(float yaw_shift_cd);
//
// methods to be called by upper controllers to request and implement a desired attitude
//