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Copter: `euler_rate_to_ang_vel` takes Quaternion attitude

This commit is contained in:
Iampete1 2024-02-19 23:47:13 +00:00 committed by Randy Mackay
parent f3c32a7c9e
commit f54f7d7dc6
2 changed files with 2 additions and 2 deletions
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2
ArduCopter/mode_acro.cpp
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@ -162,7 +162,7 @@ void ModeAcro::get_pilot_desired_angle_rates(float roll_in, float pitch_in, floa
} }
// convert earth-frame level rates to body-frame level rates // convert earth-frame level rates to body-frame level rates
attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd() * radians(0.01f), rate_ef_level_cd, rate_bf_level_cd); attitude_control->euler_rate_to_ang_vel(attitude_control->get_attitude_target_quat(), rate_ef_level_cd, rate_bf_level_cd);
// combine earth frame rate corrections with rate requests // combine earth frame rate corrections with rate requests
if (g.acro_trainer == (uint8_t)Trainer::LIMITED) { if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {

2
ArduCopter/mode_acro_heli.cpp
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@ -144,7 +144,7 @@ void ModeAcro_Heli::virtual_flybar( float &roll_out, float &pitch_out, float &ya
rate_ef_level.z = 0; rate_ef_level.z = 0;
// convert earth-frame leak rates to body-frame leak rates // convert earth-frame leak rates to body-frame leak rates
attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level); attitude_control->euler_rate_to_ang_vel(attitude_control->get_attitude_target_quat(), rate_ef_level, rate_bf_level);
// combine earth frame rate corrections with rate requests // combine earth frame rate corrections with rate requests
roll_out += rate_bf_level.x; roll_out += rate_bf_level.x;