From 6423a2dfb9c6e7eb24d36f28c3d7c8b2bf453c37 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Wed, 25 May 2022 20:52:20 +1000 Subject: [PATCH] Plane: use pos_control for weathervane attitude this makes no difference as wp_nav just passes through, but right API to call --- ArduPlane/quadplane.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 3648089b8b..64bcb16df9 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -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;