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Copter: Fix guided yaw bug. 

# Conflicts:
#	ArduCopter/GCS_Mavlink.cpp
This commit is contained in:
Andrew Tridgell 2021-07-22 15:28:18 +10:00 committed by Randy Mackay
parent e4392e3ce6
commit b032b812ce
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/autoyaw.cpp
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@ -198,7 +198,7 @@ float Mode::AutoYaw::yaw()
// keep heading pointing in the direction held in fixed_yaw // keep heading pointing in the direction held in fixed_yaw
// with no pilot input allowed // with no pilot input allowed
const uint32_t now_ms = millis(); const uint32_t now_ms = millis();
float dt = now_ms - _last_update_ms; float dt = (now_ms - _last_update_ms) * 0.001;
_last_update_ms = now_ms; _last_update_ms = now_ms;
float yaw_angle_step = constrain_float(_fixed_yaw_offset_cd, - dt * _fixed_yaw_slewrate_cds, dt * _fixed_yaw_slewrate_cds); float yaw_angle_step = constrain_float(_fixed_yaw_offset_cd, - dt * _fixed_yaw_slewrate_cds, dt * _fixed_yaw_slewrate_cds);
_fixed_yaw_offset_cd -= yaw_angle_step; _fixed_yaw_offset_cd -= yaw_angle_step;
@ -225,7 +225,7 @@ float Mode::AutoYaw::yaw()
case AUTO_YAW_ANGLE_RATE:{ case AUTO_YAW_ANGLE_RATE:{
const uint32_t now_ms = millis(); const uint32_t now_ms = millis();
float dt = now_ms - _last_update_ms; float dt = (now_ms - _last_update_ms) * 0.001;
_last_update_ms = now_ms; _last_update_ms = now_ms;
_yaw_angle_cd += _yaw_rate_cds * dt; _yaw_angle_cd += _yaw_rate_cds * dt;
return _yaw_angle_cd; return _yaw_angle_cd;