Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 14:08:45 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS: added get_yaw_rate_earth()

Browse Source 
used to estimate course correction on takeoff
This commit is contained in:
Andrew Tridgell 2014-10-07 07:15:19 +11:00
parent 41ce8c2abd
commit 809b6cc855
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_AHRS/AP_AHRS.h
View File

@ -160,6 +160,9 @@ public:
// accelerometer values in the earth frame in m/s/s
const Vector3f &get_accel_ef(void) const { return _accel_ef[_ins.get_primary_accel()]; }
// get yaw rate in earth frame in radians/sec
float get_yaw_rate_earth(void) const { return get_gyro() * get_dcm_matrix().c; }
// Methods
virtual void update(void) = 0;