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ACM: Toy mode fix - Pitch flipped the sign on roll/Yaw coupling.

This commit is contained in:
Jason Short 2012-07-30 15:43:05 -07:00
parent 77b1785bc6
commit 8c47b0c087
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/Attitude.pde
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@ -848,7 +848,7 @@ void roll_pitch_toy()
// Linear equation for Yaw:Speed to Roll // Linear equation for Yaw:Speed to Roll
// default is 1000, lower for more roll action // default is 1000, lower for more roll action
//roll_rate = ((float)g_gps->ground_speed / 600) * (float)yaw_rate; //roll_rate = ((float)g_gps->ground_speed / 600) * (float)yaw_rate;
roll_rate = ((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40; roll_rate = -((int32_t)g.rc_2.control_in * (yaw_rate/100)) /40;
//Serial.printf("roll_rate: %d\n",roll_rate); //Serial.printf("roll_rate: %d\n",roll_rate);
// limit roll rate to 15, 30, or 45 deg per second. // limit roll rate to 15, 30, or 45 deg per second.