Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-23 00:04:02 -04:00
Code Issues Packages Projects Releases Wiki Activity

AC_AttitudeControl: keep _att_target_euler_deriv_rads updated in euler_angle_roll_pitch_yaw

Browse Source
This commit is contained in:
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
View File

@ -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
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)