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AC_AttControl: minor comment fix

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Randy Mackay 2015-11-17 13:32:59 +09:00
parent a348424551
commit 4b41710261
1 changed files with 1 additions and 1 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -455,7 +455,7 @@ bool AC_AttitudeControl::frame_conversion_bf_to_ef(const Vector3f& bf_vector, Ve
if (is_zero(_ahrs.cos_pitch())) { if (is_zero(_ahrs.cos_pitch())) {
return false; return false;
} }
// convert earth frame angle or rates to body frame // convert body frame angle or rates to earth frame
ef_vector.x = bf_vector.x + _ahrs.sin_roll() * (_ahrs.sin_pitch()/_ahrs.cos_pitch()) * bf_vector.y + _ahrs.cos_roll() * (_ahrs.sin_pitch()/_ahrs.cos_pitch()) * bf_vector.z; ef_vector.x = bf_vector.x + _ahrs.sin_roll() * (_ahrs.sin_pitch()/_ahrs.cos_pitch()) * bf_vector.y + _ahrs.cos_roll() * (_ahrs.sin_pitch()/_ahrs.cos_pitch()) * bf_vector.z;
ef_vector.y = _ahrs.cos_roll() * bf_vector.y - _ahrs.sin_roll() * bf_vector.z; ef_vector.y = _ahrs.cos_roll() * bf_vector.y - _ahrs.sin_roll() * bf_vector.z;
ef_vector.z = (_ahrs.sin_roll() / _ahrs.cos_pitch()) * bf_vector.y + (_ahrs.cos_roll() / _ahrs.cos_pitch()) * bf_vector.z; ef_vector.z = (_ahrs.sin_roll() / _ahrs.cos_pitch()) * bf_vector.y + (_ahrs.cos_roll() / _ahrs.cos_pitch()) * bf_vector.z;