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Copter: change acro to use modified attitude_control functions

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Jonathan Challinger 2015-11-24 16:21:40 -08:00 committed by Randy Mackay
parent 06c8457efd
commit b906767a45
1 changed files with 1 additions and 1 deletions
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ArduCopter/control_acro.cpp
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@ -125,7 +125,7 @@ void Copter::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, in
} }
// convert earth-frame level rates to body-frame level rates // convert earth-frame level rates to body-frame level rates
attitude_control.frame_conversion_ef_to_bf(rate_ef_level, rate_bf_level); attitude_control.euler_derivative_to_ang_vel(attitude_control.angle_ef_targets()*radians(0.01f), rate_ef_level, rate_bf_level);
// combine earth frame rate corrections with rate requests // combine earth frame rate corrections with rate requests
if (g.acro_trainer == ACRO_TRAINER_LIMITED) { if (g.acro_trainer == ACRO_TRAINER_LIMITED) {