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SITL: fixed plane-tailsitter model

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it doesn't play well with smoothing
This commit is contained in:
Andrew Tridgell 2021-08-13 13:30:50 +10:00
parent b15ea7fe33
commit 46287dcb00
1 changed files with 0 additions and 5 deletions
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5
libraries/SITL/SIM_Aircraft.cpp
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@ -695,15 +695,10 @@ void Aircraft::update_dynamics(const Vector3f &rot_accel)
dcm.to_euler(&r, &p, &y);
y = y + yaw_rate * delta_time;
dcm.from_euler(0.0f, radians(90), y);
// no movement
if (accel_earth.z > -1.1*GRAVITY_MSS) {
velocity_ef.zero();
}
// X, Y movement tracks ground movement
velocity_ef.x = gnd_movement.x;
velocity_ef.y = gnd_movement.y;
gyro.zero();
use_smoothing = true;
break;
}
}