mirror of https://github.com/ArduPilot/ardupilot
AC_AttitudeControl: Shorten survival time of automatic variables
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@ -555,9 +555,9 @@ void AC_AttitudeControl::input_thrust_vector_rate_heading(const Vector3f& thrust
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{
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{
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// Convert from centidegrees on public interface to radians
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// Convert from centidegrees on public interface to radians
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float heading_rate = radians(heading_rate_cds * 0.01f);
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float heading_rate = radians(heading_rate_cds * 0.01f);
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if (slew_yaw) {
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// a zero _angle_vel_yaw_max means that setting is disabled
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// a zero _angle_vel_yaw_max means that setting is disabled
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const float slew_yaw_max_rads = get_slew_yaw_max_rads();
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const float slew_yaw_max_rads = get_slew_yaw_max_rads();
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if (slew_yaw) {
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heading_rate = constrain_float(heading_rate, -slew_yaw_max_rads, slew_yaw_max_rads);
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heading_rate = constrain_float(heading_rate, -slew_yaw_max_rads, slew_yaw_max_rads);
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}
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}
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