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Plane: use pos_control for weathervane attitude 

this makes no difference as wp_nav just passes through, but right API
to call
This commit is contained in:
Andrew Tridgell 2022-05-25 20:52:20 +10:00
parent ae6b877fd3
commit 6423a2dfb9
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/quadplane.cpp
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@ -3442,8 +3442,8 @@ float QuadPlane::get_weathervane_yaw_rate_cds(void)
if (weathervane->get_yaw_out(wv_output,
plane.channel_rudder->get_control_in(),
plane.relative_ground_altitude(plane.g.rangefinder_landing),
wp_nav->get_roll(),
wp_nav->get_pitch(),
pos_control->get_roll_cd(),
pos_control->get_pitch_cd(),
is_takeoff,
in_vtol_land_sequence())) {
return constrain_float(wv_output * (1/45.0), -100.0, 100.0) * yaw_rate_max * 0.5;