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AC_AttitudeControl: tailsitter sets target rates more efficiently

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Randy Mackay 2021-01-04 11:57:14 +09:00 committed by Andrew Tridgell
parent 5efe94a771
commit 031be010ac
1 changed files with 2 additions and 2 deletions
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libraries/AC_AttitudeControl/AC_AttitudeControl_TS.cpp
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@ -120,8 +120,8 @@ void AC_AttitudeControl_TS::input_euler_rate_yaw_euler_angle_pitch_bf_roll(bool
// _attitude_target_euler_angle.y = euler_pitch; // _attitude_target_euler_angle.y = euler_pitch;
// Set rate feedforward requests to zero // Set rate feedforward requests to zero
_attitude_target_euler_rate = Vector3f(0.0f, 0.0f, 0.0f); _attitude_target_euler_rate.zero();
_attitude_target_ang_vel = Vector3f(0.0f, 0.0f, 0.0f); _attitude_target_ang_vel.zero();
// Compute attitude error // Compute attitude error
error_quat = attitude_vehicle_quat.inverse() * _attitude_target_quat; error_quat = attitude_vehicle_quat.inverse() * _attitude_target_quat;