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Copter: Set the gravitational acceleration value to the defined value

This commit is contained in:
murata 2020-03-15 12:26:05 +09:00 committed by Randy Mackay
parent d7533843d5
commit 44a622ea7f
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/mode_poshold.cpp
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@ -627,8 +627,8 @@ void ModePosHold::get_wind_comp_lean_angles(float &roll_angle, float &pitch_angl
wind_comp_timer = 0;
// convert earth frame desired accelerations to body frame roll and pitch lean angles
roll_angle = atanf((-wind_comp_ef.x*ahrs.sin_yaw() + wind_comp_ef.y*ahrs.cos_yaw())/981.0f)*(18000.0f/M_PI);
pitch_angle = atanf(-(wind_comp_ef.x*ahrs.cos_yaw() + wind_comp_ef.y*ahrs.sin_yaw())/981.0f)*(18000.0f/M_PI);
roll_angle = atanf((-wind_comp_ef.x*ahrs.sin_yaw() + wind_comp_ef.y*ahrs.cos_yaw())/(GRAVITY_MSS*100))*(18000.0f/M_PI);
pitch_angle = atanf(-(wind_comp_ef.x*ahrs.cos_yaw() + wind_comp_ef.y*ahrs.sin_yaw())/(GRAVITY_MSS*100))*(18000.0f/M_PI);
}
// roll_controller_to_pilot_override - initialises transition from a controller submode (brake or loiter) to a pilot override on roll axis