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AC_AttControl: init_targets() clears body frame angle errors 

This should ensure that we don't get sudden jerks when entering acro
mode
This commit is contained in:
Randy Mackay 2014-01-30 21:44:16 +09:00 committed by Andrew Tridgell
parent 2643ee9724
commit eda376c7f6
1 changed files with 6 additions and 0 deletions
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6
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -45,9 +45,15 @@ const AP_Param::GroupInfo AC_AttitudeControl::var_info[] PROGMEM = {
// init_targets - resets target angles to current angles
void AC_AttitudeControl::init_targets()
{
// set earth frame angle targets to current lean angles
_angle_ef_target.x = _ahrs.roll_sensor;
_angle_ef_target.y = _ahrs.pitch_sensor;
_angle_ef_target.z = _ahrs.yaw_sensor;
// clear body frame angle errors
_rate_stab_bf_error.x = 0;
_rate_stab_bf_error.y = 0;
_rate_stab_bf_error.z = 0;
}
// angleef_rp_rateef_y - attempts to maintain a roll and pitch angle and yaw rate (all earth frame)