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APM_Control: reduce roll compensation in pitch controller by cos(pitch) 

This reduces the use of the pitch compensation when in a steep climb
or dive

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
This commit is contained in:
Andrew Tridgell 2013-11-04 19:44:38 +11:00
parent 5e915fbde3
commit 9b5cae2134
1 changed files with 1 additions and 1 deletions
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2
libraries/APM_Control/AP_PitchController.cpp
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@ -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 = 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 , float(aparm.airspeed_min))) * tanf(bank_angle) * sinf(bank_angle))) * _roll_ff;
}
if (inverted) {
rate_offset = -rate_offset;