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SITL: fixed gimbal for tailsitter

This commit is contained in:
Andrew Tridgell 2018-07-19 18:23:36 +10:00
parent 9a6113e5d8
commit 98f87f5087
1 changed files with 2 additions and 4 deletions
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6
libraries/SITL/SIM_Gimbal.cpp
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@ -57,10 +57,8 @@ void Gimbal::update(void)
Matrix3f vehicle_dcm;
fdm.quaternion.rotation_matrix(vehicle_dcm);
Vector3f vehicle_gyro = Vector3f(radians(fdm.rollRate),
radians(fdm.pitchRate),
radians(fdm.yawRate));
Vector3f vehicle_accel_body = Vector3f(fdm.xAccel, fdm.yAccel, fdm.zAccel);
const Vector3f &vehicle_gyro = AP::ins().get_gyro();
const Vector3f &vehicle_accel_body = AP::ins().get_accel();
// take a copy of the demanded rates to bypass the limiter function for testing
Vector3f demRateRaw = demanded_angular_rate;