From 46287dcb0044c0f4ced55efd403cd6aeb6f8513d Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Fri, 13 Aug 2021 13:30:50 +1000 Subject: [PATCH] SITL: fixed plane-tailsitter model it doesn't play well with smoothing --- libraries/SITL/SIM_Aircraft.cpp | 5 ----- 1 file changed, 5 deletions(-) diff --git a/libraries/SITL/SIM_Aircraft.cpp b/libraries/SITL/SIM_Aircraft.cpp index 36e93aa667..b897694747 100644 --- a/libraries/SITL/SIM_Aircraft.cpp +++ b/libraries/SITL/SIM_Aircraft.cpp @@ -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; } }