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AP_L1_Control: Set the gravitational acceleration value to the defined value

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murata 2020-03-15 12:24:55 +09:00 committed by Randy Mackay
parent 441be7e04b
commit 2eee8e389d
1 changed files with 1 additions and 1 deletions
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libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -79,7 +79,7 @@ int32_t AP_L1_Control::get_yaw_sensor() const
int32_t AP_L1_Control::nav_roll_cd(void) const int32_t AP_L1_Control::nav_roll_cd(void) const
{ {
float ret; float ret;
ret = cosf(_ahrs.pitch)*degrees(atanf(_latAccDem * 0.101972f) * 100.0f); // 0.101972 = 1/9.81 ret = cosf(_ahrs.pitch)*degrees(atanf(_latAccDem * (1.0f/GRAVITY_MSS)) * 100.0f);
ret = constrain_float(ret, -9000, 9000); ret = constrain_float(ret, -9000, 9000);
return ret; return ret;
} }