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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-30 07:29:09 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-30 07:29:09 +0200 |
| commit | e7ebcd6c572fe3550fd626530eb69b818e31be4a (patch) | |
| tree | 5eabd5f47d8afd052fedeb070ce5f9128947bf91 | |
| parent | 2ee02e5e4b455ef8ce136d62f2985b84357ef19f (diff) | |
| parent | 0c58588a87697a371249b7eb5ca9cdac7169c6e0 (diff) | |
| download | px4-firmware-e7ebcd6c572fe3550fd626530eb69b818e31be4a.tar.gz px4-firmware-e7ebcd6c572fe3550fd626530eb69b818e31be4a.tar.bz2 px4-firmware-e7ebcd6c572fe3550fd626530eb69b818e31be4a.zip | |
Merge pull request #880 from PX4/yaw_ff_fix
mc_att_control: yaw feed-forward in manual control modes fixed
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index 6b0c44fb3..36d95bf06 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -496,7 +496,8 @@ MulticopterAttitudeControl::control_attitude(float dt) //} } else { /* move yaw setpoint */ - _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + _manual_control_sp.yaw * _params.man_yaw_max * dt); + yaw_sp_move_rate = _manual_control_sp.yaw * _params.man_yaw_max; + _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); _v_att_sp.R_valid = false; publish_att_sp = true; } |