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AP_AHRS: fixed wrap of yaw in AHRS_View

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This commit is contained in:
Andrew Tridgell 2017-04-17 12:14:57 +10:00
parent 7737c3445c
commit 6b6ad6ddf2
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_AHRS/AP_AHRS_View.cpp
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@ -62,6 +62,9 @@ void AP_AHRS_View::update(bool skip_ins_update)
roll_sensor = degrees(roll) * 100; roll_sensor = degrees(roll) * 100;
pitch_sensor = degrees(pitch) * 100; pitch_sensor = degrees(pitch) * 100;
yaw_sensor = degrees(yaw) * 100; yaw_sensor = degrees(yaw) * 100;
if (yaw_sensor < 0) {
yaw_sensor += 36000;
}
ahrs.calc_trig(rot_body_to_ned, ahrs.calc_trig(rot_body_to_ned,
trig.cos_roll, trig.cos_pitch, trig.cos_yaw, trig.cos_roll, trig.cos_pitch, trig.cos_yaw,