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AC_AutoTune: INAV rename for neu & cm/cms

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Josh Henderson 2021-10-20 04:32:20 -04:00 committed by Andrew Tridgell
parent e11529ac01
commit bd9361b701
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AutoTune/AC_AutoTune.cpp
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@ -1671,7 +1671,7 @@ void AC_AutoTune::get_poshold_attitude(float &roll_cd_out, float &pitch_cd_out,
if (!have_position) {
have_position = true;
start_position = inertial_nav->get_position();
start_position = inertial_nav->get_position_neu_cm();
}
// don't go past 10 degrees, as autotune result would deteriorate too much
@ -1684,7 +1684,7 @@ void AC_AutoTune::get_poshold_attitude(float &roll_cd_out, float &pitch_cd_out,
// target position. That corresponds to a lean angle of 2.5 degrees
const float yaw_dist_limit_cm = 500;
Vector3f pdiff = inertial_nav->get_position() - start_position;
Vector3f pdiff = inertial_nav->get_position_neu_cm() - start_position;
pdiff.z = 0;
float dist_cm = pdiff.length();
if (dist_cm < 10) {