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AC_AttControl: bug fix for ef target during acro

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This commit is contained in:
Randy Mackay 2014-08-23 21:42:23 +09:00
parent d7d90b4ff8
commit ec2308bcd2
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -387,12 +387,12 @@ void AC_AttitudeControl::rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_
} }
if (_angle_ef_target.y > 9000.0f) { if (_angle_ef_target.y > 9000.0f) {
_angle_ef_target.x = wrap_180_cd_float(_angle_ef_target.x + 18000.0f); _angle_ef_target.x = wrap_180_cd_float(_angle_ef_target.x + 18000.0f);
_angle_ef_target.y = wrap_180_cd_float(18000.0f - _angle_ef_target.x); _angle_ef_target.y = wrap_180_cd_float(18000.0f - _angle_ef_target.y);
_angle_ef_target.z = wrap_360_cd_float(_angle_ef_target.z + 18000.0f); _angle_ef_target.z = wrap_360_cd_float(_angle_ef_target.z + 18000.0f);
} }
if (_angle_ef_target.y < -9000.0f) { if (_angle_ef_target.y < -9000.0f) {
_angle_ef_target.x = wrap_180_cd_float(_angle_ef_target.x + 18000.0f); _angle_ef_target.x = wrap_180_cd_float(_angle_ef_target.x + 18000.0f);
_angle_ef_target.y = wrap_180_cd_float(-18000.0f - _angle_ef_target.x); _angle_ef_target.y = wrap_180_cd_float(-18000.0f - _angle_ef_target.y);
_angle_ef_target.z = wrap_360_cd_float(_angle_ef_target.z + 18000.0f); _angle_ef_target.z = wrap_360_cd_float(_angle_ef_target.z + 18000.0f);
} }
} }