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mc_pos_control_main: add clarification that we're in world frame

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Beat Küng 2017-09-19 11:01:21 +02:00 committed by Matthias Grob
parent 05e3c58e18
commit b00c93ac21
1 changed files with 2 additions and 1 deletions
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3
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -2854,7 +2854,8 @@ MulticopterPositionControl::generate_attitude_setpoint(float dt)
}
matrix::Quatf q_sp_rpy = matrix::AxisAnglef(v(0), v(1), 0.f);
// The axis angle can change the yaw as well (but only at higher tilt angles).
// The axis angle can change the yaw as well (but only at higher tilt angles. Note: we're talking
// about the world frame here, in terms of body frame the yaw rate will be unaffected).
// This the the formula by how much the yaw changes:
// let a := tilt angle, b := atan(y/x) (direction of maximum tilt)
// yaw = atan(-2 * sin(b) * cos(b) * sin^2(a/2) / (1 - 2 * cos^2(b) * sin^2(a/2))).