Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 10:28:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

SITL: fixed the normalisation of the DCM matrix in the multicopter sim

Browse Source
This commit is contained in:
Andrew Tridgell 2012-07-04 15:59:15 +10:00
parent 6cf2e2fa13
commit b3c9cdb353
1 changed files with 1 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
Tools/autotest/pysim/multicopter.py
View File

@ -132,6 +132,7 @@ class MultiCopter(Aircraft):
# update attitude # update attitude
self.dcm.rotate(self.gyro * delta_time) self.dcm.rotate(self.gyro * delta_time)
self.dcm.normalize()
# air resistance # air resistance
air_resistance = - self.velocity * (self.gravity/self.terminal_velocity) air_resistance = - self.velocity * (self.gravity/self.terminal_velocity)