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AC_AttControl: add set_yaw_target_to_current_heading method

This commit is contained in:
Randy Mackay 2014-06-06 14:45:18 +09:00
parent d9c966c927
commit 2bb30b3ef9
1 changed files with 3 additions and 0 deletions
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3
libraries/AC_AttitudeControl/AC_AttitudeControl.h
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@ -80,6 +80,9 @@ public:
// relax_bf_rate_controller - ensure body-frame rate controller has zero errors to relax rate controller output // relax_bf_rate_controller - ensure body-frame rate controller has zero errors to relax rate controller output
void relax_bf_rate_controller(); void relax_bf_rate_controller();
// 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; }
// //
// methods to be called by upper controllers to request and implement a desired attitude // methods to be called by upper controllers to request and implement a desired attitude
// //