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AC_AttitudeControl: add comment

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Leonard Hall 2015-04-14 22:31:11 +09:30 committed by Randy Mackay
parent 7cb3c4ba39
commit 24b8d32b0e
1 changed files with 1 additions and 0 deletions

1
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -552,6 +552,7 @@ void AC_AttitudeControl::update_rate_bf_targets()
_rate_bf_target.z = _p_angle_yaw.kP() * _angle_bf_error.z; _rate_bf_target.z = _p_angle_yaw.kP() * _angle_bf_error.z;
} }
// include roll and pitch rate required to account for precession of the desired attitude about the body frame yaw axes
_rate_bf_target.x += _angle_bf_error.y * _ahrs.get_gyro().z; _rate_bf_target.x += _angle_bf_error.y * _ahrs.get_gyro().z;
_rate_bf_target.y += -_angle_bf_error.x * _ahrs.get_gyro().z; _rate_bf_target.y += -_angle_bf_error.x * _ahrs.get_gyro().z;
} }