Fixed error term calculation for yaw position

2 files changed, 10 insertions, 3 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 3466f9842..f2ef13e90 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -140,6 +140,7 @@ mc_thread_main(int argc, char *argv[])
 	bool flag_control_manual_enabled = false;
 	bool flag_control_attitude_enabled = false;
 	bool flag_system_armed = false;
+	bool man_yaw_zero_once = false;
 
 	while (!thread_should_exit) {
 
@@ -212,14 +213,20 @@ mc_thread_main(int argc, char *argv[])
 			 	    state.flag_control_manual_enabled != flag_control_manual_enabled ||
 			 	    state.flag_system_armed != flag_system_armed) {
 					att_sp.yaw_body = att.yaw;
+					man_yaw_zero_once = false;
 				}
 
 				att_sp.roll_body = manual.roll;
 				att_sp.pitch_body = manual.pitch;
+
+				if ((manual.yaw > -0.1f || 0.1f > manual.yaw)) {
+					man_yaw_zero_once = true;
+				}
+
 				/* only move setpoint if manual input is != 0 */
 				// XXX turn into param
-				if (manual.yaw < -0.01f || 0.01f < manual.yaw) {
-					att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.01f;
+				if ((manual.yaw < -0.01f || 0.01f < manual.yaw) && man_yaw_zero_once) {
+					att_sp.yaw_body = att_sp.yaw_body + manual.yaw * 0.0025f;
 				}
 				att_sp.thrust = manual.throttle;
 				att_sp.timestamp = hrt_absolute_time();
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c
index 1258c739e..003180c18 100644
--- a/apps/multirotor_att_control/multirotor_attitude_control.c
+++ b/apps/multirotor_att_control/multirotor_attitude_control.c
@@ -217,7 +217,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
 			att->roll, att->rollspeed, deltaT);
 
 	/* control yaw rate */
-	rates_sp->yaw = p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body)) - (p.yaw_d * att->yawspeed);
+	rates_sp->yaw = p.yaw_p * atan2f(cosf(att->yaw - att_sp->yaw_body), sinf(att->yaw - att_sp->yaw_body)) - (p.yaw_d * att->yawspeed);
 
 	rates_sp->thrust = att_sp->thrust;