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Heli: Prevent loss of yaw control during large angle recovery

This commit is contained in:
Leonard Hall 2019-10-28 21:18:53 +10:30 committed by Andrew Tridgell
parent 5ef676e40c
commit b84078d396
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
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@ -358,7 +358,7 @@ float AC_AttitudeControl_Heli::rate_target_to_motor_yaw(float rate_yaw_actual_ra
float pid = _pid_rate_yaw.update_all(rate_target_rads, rate_yaw_actual_rads, _flags_heli.limit_yaw) + _actuator_sysid.z; float pid = _pid_rate_yaw.update_all(rate_target_rads, rate_yaw_actual_rads, _flags_heli.limit_yaw) + _actuator_sysid.z;
// use pid library to calculate ff // use pid library to calculate ff
float vff = _pid_rate_yaw.get_ff(); float vff = _pid_rate_yaw.get_ff()*_feedforward_scalar;
// add feed forward // add feed forward
float yaw_out = pid + vff; float yaw_out = pid + vff;