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correctin from user input to roll and pitch

This commit is contained in:
Dennis Mannhart 2016-11-22 11:44:10 +01:00 committed by Lorenz Meier
parent 6906d966ce
commit dd1ca0daa2
1 changed files with 1 additions and 1 deletions
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2
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -2161,7 +2161,7 @@ MulticopterPositionControl::task_main()
// use the formula z_roll_pitch_sp = R_tilt * [0;0;1]
// R_tilt is computed from_euler; only true if cos(roll) not equal zero
// -> valid if roll is not +-pi/2
// -> valid if roll is not +-pi/2;
_att_sp.roll_body = -asinf(z_roll_pitch_sp(1));
_att_sp.pitch_body = atan2f(z_roll_pitch_sp(0), z_roll_pitch_sp(2));