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Copter: fix to drift's yaw rate 

The ACRO_P parameter needs to be multiplied by the roll and pitch
velocities to calculate the final yaw rate
This commit is contained in:
Randy Mackay 2014-07-23 17:11:55 +09:00
parent f24960f4c0
commit e9861de2ac
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/control_drift.pde
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@ -66,7 +66,7 @@ static void drift_run()
float pitch_vel2 = min(fabs(pitch_vel), 800); float pitch_vel2 = min(fabs(pitch_vel), 800);
// simple gain scheduling for yaw input // simple gain scheduling for yaw input
target_yaw_rate = (float)(target_roll/2) * (1.0 - (pitch_vel2 / 2400.0)); target_yaw_rate = (float)(target_roll/2.0f) * (1.0f - (pitch_vel2 / 2400.0f)) * g.acro_yaw_p;
roll_vel = constrain_float(roll_vel, -322, 322); roll_vel = constrain_float(roll_vel, -322, 322);
pitch_vel = constrain_float(pitch_vel, -322, 322); pitch_vel = constrain_float(pitch_vel, -322, 322);