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Tracker: reverse CR servo error calculation

This commit is contained in:
Randy Mackay 2015-06-03 23:16:31 +09:00
parent fba8ca3a98
commit 26fdaa0710
1 changed files with 2 additions and 2 deletions
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4
AntennaTracker/servos.cpp
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@ -145,7 +145,7 @@ void Tracker::update_pitch_onoff_servo(float pitch)
void Tracker::update_pitch_cr_servo(float pitch)
{
float ahrs_pitch = degrees(ahrs.pitch);
float err_cd = (ahrs_pitch - pitch) * 100.0f;
float err_cd = (pitch - ahrs_pitch) * 100.0f;
channel_pitch.servo_out = g.pidPitch2Srv.get_pid(err_cd);
}
@ -333,7 +333,7 @@ void Tracker::update_yaw_cr_servo(float yaw)
{
int32_t ahrs_yaw_cd = wrap_180_cd(ahrs.yaw_sensor);
float yaw_cd = wrap_180_cd_float(yaw*100.0f);
float err_cd = wrap_180_cd((float)ahrs_yaw_cd - yaw_cd);
float err_cd = wrap_180_cd(yaw_cd - (float)ahrs_yaw_cd);
channel_yaw.servo_out = g.pidYaw2Srv.get_pid(err_cd);
}