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AP_L1_Control: reduced demanded bank angle by cos(pitch)

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this prevents attempts to do too tight turns while at a steep pitch

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
This commit is contained in:
Andrew Tridgell 2013-11-04 19:45:37 +11:00
parent 9b5cae2134
commit ea9a2eda3f
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_L1_Control/AP_L1_Control.cpp
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@ -38,7 +38,7 @@ const AP_Param::GroupInfo AP_L1_Control::var_info[] PROGMEM = {
int32_t AP_L1_Control::nav_roll_cd(void) const
{
float ret;
ret = degrees(atanf(_latAccDem * 0.101972f) * 100.0f); // 0.101972 = 1/9.81
ret = cosf(_ahrs.pitch)*degrees(atanf(_latAccDem * 0.101972f) * 100.0f); // 0.101972 = 1/9.81
ret = constrain_float(ret, -9000, 9000);
return ret;
}