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SITL: expose home yaw to FDMs

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This commit is contained in:
Andrew Tridgell 2015-11-24 09:14:47 +11:00
parent 630d4410d4
commit d425965f6d
2 changed files with 3 additions and 4 deletions
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6
libraries/SITL/SIM_Aircraft.cpp
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@ -55,13 +55,11 @@ Aircraft::Aircraft(const char *home_str, const char *frame_str) :
min_sleep_time(5000)
#endif
{
float yaw_degrees;
parse_home(home_str, home, yaw_degrees);
parse_home(home_str, home, home_yaw);
location = home;
ground_level = home.alt*0.01;
dcm.from_euler(0, 0, radians(yaw_degrees));
dcm.from_euler(0, 0, radians(home_yaw));
set_speedup(1);

1
libraries/SITL/SIM_Aircraft.h
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@ -98,6 +98,7 @@ protected:
Location location;
float ground_level;
float home_yaw;
float frame_height;
Matrix3f dcm; // rotation matrix, APM conventions, from body to earth
Vector3f gyro; // rad/s