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AC_AttControl: rate compensation for yaw

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lthall 2014-06-01 10:20:25 +09:30 committed by Randy Mackay
parent 0d87298221
commit 922026c15c
1 changed files with 3 additions and 0 deletions
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3
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -471,6 +471,9 @@ void AC_AttitudeControl::update_rate_bf_targets()
if (_flags.limit_angle_to_rate_request) {
_rate_bf_target.z = constrain_float(_rate_bf_target.z,-_angle_rate_y_max,_angle_rate_y_max);
}
_rate_bf_target.x += -_angle_bf_error.y * _ins.get_gyro().z;
_rate_bf_target.y += _angle_bf_error.x * _ins.get_gyro().z;
}
//