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Copter: use resetHeightDatum() and getLastYawResetAngle()

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This commit is contained in:
Andrew Tridgell 2015-09-23 17:47:11 +10:00
parent f9348887c5
commit 2470cf0e76
2 changed files with 2 additions and 2 deletions
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2
ArduCopter/Attitude.cpp
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@ -53,7 +53,7 @@ float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
void Copter::check_ekf_yaw_reset() void Copter::check_ekf_yaw_reset()
{ {
float yaw_angle_change_rad = 0.0f; float yaw_angle_change_rad = 0.0f;
if (ahrs.get_NavEKF().getLastYawResetAngle(yaw_angle_change_rad)) { if (ahrs.getLastYawResetAngle(yaw_angle_change_rad)) {
attitude_control.shift_ef_yaw_target(ToDeg(yaw_angle_change_rad) * 100.0f); attitude_control.shift_ef_yaw_target(ToDeg(yaw_angle_change_rad) * 100.0f);
} }
} }

2
ArduCopter/motors.cpp
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@ -165,7 +165,7 @@ bool Copter::init_arm_motors(bool arming_from_gcs)
if (ap.home_state == HOME_UNSET) { if (ap.home_state == HOME_UNSET) {
// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home) // Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
ahrs.get_NavEKF().resetHeightDatum(); ahrs.resetHeightDatum();
Log_Write_Event(DATA_EKF_ALT_RESET); Log_Write_Event(DATA_EKF_ALT_RESET);
} else if (ap.home_state == HOME_SET_NOT_LOCKED) { } else if (ap.home_state == HOME_SET_NOT_LOCKED) {
// Reset home position if it has already been set before (but not locked) // Reset home position if it has already been set before (but not locked)