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Copter: autoyaw: weathervane: include roll trim for helis

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Iampete1 2022-12-14 08:54:12 +00:00 committed by Bill Geyer
parent 3fedd0d8b2
commit d9dedf3fe8
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/autoyaw.cpp
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@ -350,7 +350,7 @@ void Mode::AutoYaw::update_weathervane(const int16_t pilot_yaw_cds)
float yaw_rate_cds; float yaw_rate_cds;
if (copter.g2.weathervane.get_yaw_out(yaw_rate_cds, pilot_yaw_cds, copter.flightmode->get_alt_above_ground_cm()*0.01, if (copter.g2.weathervane.get_yaw_out(yaw_rate_cds, pilot_yaw_cds, copter.flightmode->get_alt_above_ground_cm()*0.01,
copter.pos_control->get_roll_cd(), copter.pos_control->get_roll_cd()-copter.attitude_control->get_roll_trim_cd(),
copter.pos_control->get_pitch_cd(), copter.pos_control->get_pitch_cd(),
copter.flightmode->is_taking_off(), copter.flightmode->is_taking_off(),
copter.flightmode->is_landing())) { copter.flightmode->is_landing())) {