forked from Archive/PX4-Autopilot
mc_pos_control_main: add clarification that we're in world frame
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@ -2854,7 +2854,8 @@ MulticopterPositionControl::generate_attitude_setpoint(float dt)
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matrix::Quatf q_sp_rpy = matrix::AxisAnglef(v(0), v(1), 0.f);
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// The axis angle can change the yaw as well (but only at higher tilt angles).
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// The axis angle can change the yaw as well (but only at higher tilt angles. Note: we're talking
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// about the world frame here, in terms of body frame the yaw rate will be unaffected).
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// This the the formula by how much the yaw changes:
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// let a := tilt angle, b := atan(y/x) (direction of maximum tilt)
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// yaw = atan(-2 * sin(b) * cos(b) * sin^2(a/2) / (1 - 2 * cos^2(b) * sin^2(a/2))).
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