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AC_AttitudeControl: keep _att_target_euler_deriv_rads updated in euler_angle_roll_pitch_yaw

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Jonathan Challinger 2015-11-25 12:28:03 -08:00 committed by Randy Mackay
parent 9d8b0f3d58
commit edda7e4e1e
1 changed files with 3 additions and 0 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -269,6 +269,9 @@ void AC_AttitudeControl::euler_angle_roll_pitch_yaw(float euler_roll_angle_cd, f
// Compute the angular velocity target from the attitude error // Compute the angular velocity target from the attitude error
update_ang_vel_target_from_att_error(); update_ang_vel_target_from_att_error();
// Keep euler derivative updated
ang_vel_to_euler_derivative(Vector3f(_ahrs.roll,_ahrs.pitch,_ahrs.yaw), _ang_vel_target_rads, _att_target_euler_deriv_rads);
} }
void AC_AttitudeControl::euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds) void AC_AttitudeControl::euler_rate_roll_pitch_yaw(float euler_roll_rate_cds, float euler_pitch_rate_cds, float euler_yaw_rate_cds)