Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Sub: integrate AC_PosControl::get_roll_cd rename

This commit is contained in:
Leonard Hall 2021-05-12 13:31:07 +09:00 committed by Andrew Tridgell
parent ccf06f66f7
commit 74d22594db
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
ArduSub/motors.cpp
View File

@ -167,8 +167,8 @@ void Sub::translate_circle_nav_rp(float &lateral_out, float &forward_out)
void Sub::translate_pos_control_rp(float &lateral_out, float &forward_out)
{
// get roll and pitch targets in centidegrees
int32_t lateral = pos_control.get_roll();
int32_t forward = -pos_control.get_pitch(); // output is reversed
int32_t lateral = pos_control.get_roll_cd();
int32_t forward = -pos_control.get_pitch_cd(); // output is reversed
// constrain target forward/lateral values
lateral = constrain_int16(lateral, -aparm.angle_max, aparm.angle_max);