From 779e32d79f7795769f637847430576c567580f0c Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 3 Dec 2013 10:29:18 +1100 Subject: [PATCH] AP_Control : Add true airspeed compensation to pitch controller turn rate to pitch rate calculation should use true airspeed --- libraries/APM_Control/AP_PitchController.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/APM_Control/AP_PitchController.cpp b/libraries/APM_Control/AP_PitchController.cpp index 7b0dbaca30..c4c0935b53 100644 --- a/libraries/APM_Control/AP_PitchController.cpp +++ b/libraries/APM_Control/AP_PitchController.cpp @@ -218,7 +218,7 @@ float AP_PitchController::_get_coordination_rate_offset(float &aspeed, bool &inv // don't do turn coordination handling when at very high pitch angles rate_offset = 0; } else { - rate_offset = cosf(_ahrs.pitch)*fabsf(ToDeg((GRAVITY_MSS / max(aspeed , float(aparm.airspeed_min))) * tanf(bank_angle) * sinf(bank_angle))) * _roll_ff; + rate_offset = cosf(_ahrs.pitch)*fabsf(ToDeg((GRAVITY_MSS / max((aspeed * _ahrs.get_EAS2TAS()) , float(aparm.airspeed_min))) * tanf(bank_angle) * sinf(bank_angle))) * _roll_ff; } if (inverted) { rate_offset = -rate_offset;