aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

ArduCopter: bug fix in earth-frame to body-frame conversion for roll

Browse Source
This commit is contained in:
rmackay9 2012-10-07 19:14:40 +09:00
parent 05fd04134a
commit 7cf60e61b4
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Attitude.pde
View File

@ -224,7 +224,7 @@ get_acro_yaw(int32_t target_rate)
update_rate_contoller_targets()
{
// convert earth frame rates to body frame rates
roll_rate_target_bf = roll_rate_target_ef + sin_pitch * yaw_rate_target_ef;
roll_rate_target_bf = roll_rate_target_ef - sin_pitch * yaw_rate_target_ef;
pitch_rate_target_bf = cos_roll_x * pitch_rate_target_ef + sin_roll * yaw_rate_target_ef;
yaw_rate_target_bf = cos_pitch_x * cos_roll_x * yaw_rate_target_ef + sin_roll * pitch_rate_target_ef;
}