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SITL: Yaw rate calculation uses wheel offset

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Ebin 2019-09-26 23:44:28 +05:30 committed by Peter Barker
parent e32d8ecda1
commit f6c7ac88d0
1 changed files with 3 additions and 2 deletions
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5
libraries/SITL/SIM_BalanceBot.cpp
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@ -25,7 +25,7 @@ namespace SITL {
BalanceBot::BalanceBot(const char *frame_str) : BalanceBot::BalanceBot(const char *frame_str) :
Aircraft(frame_str), Aircraft(frame_str),
skid_turn_rate(140) // degrees/sec skid_turn_rate(0.15708) // meters/sec
{ {
dcm.from_euler(0,0,0); // initial yaw, pitch and roll in radians dcm.from_euler(0,0,0); // initial yaw, pitch and roll in radians
printf("Balance Bot Simulation Started\n"); printf("Balance Bot Simulation Started\n");
@ -36,7 +36,8 @@ BalanceBot::BalanceBot(const char *frame_str) :
*/ */
float BalanceBot::calc_yaw_rate(float steering) float BalanceBot::calc_yaw_rate(float steering)
{ {
return steering * skid_turn_rate; float wheel_base_length = 0.15f;
return steering * degrees( skid_turn_rate/wheel_base_length );
} }