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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-01 11:27:41 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-01 11:27:41 +0100 |
| commit | 77c6231c8e323d2f7628ee432c9a4e37aa3e6815 (patch) | |
| tree | 6a6b6aec36cf852e6dd17b2c9676d9666f0c21b9 /src/modules/mc_att_control | |
| parent | 2923bdf39fd6e424523f0b6b47bef3cabcdc0645 (diff) | |
| parent | 8897894b19e8de4ad7960a0fa552ed12fc2f0200 (diff) | |
| download | px4-firmware-77c6231c8e323d2f7628ee432c9a4e37aa3e6815.tar.gz px4-firmware-77c6231c8e323d2f7628ee432c9a4e37aa3e6815.tar.bz2 px4-firmware-77c6231c8e323d2f7628ee432c9a4e37aa3e6815.zip | |
Merge branch 'beta' into acro2
Diffstat (limited to 'src/modules/mc_att_control')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 6 |
1 files changed, 5 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 5f862652a..21e101662 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -512,14 +512,18 @@ MulticopterAttitudeControl::control_attitude(float dt) //} } else { float yaw_dz_scaled = YAW_DEADZONE * _params.rc_scale(2); + if (_params.rc_scale(2) > 0.001f && fabs(_manual_control_sp.yaw) > yaw_dz_scaled) { /* move yaw setpoint */ yaw_sp_move_rate = _manual_control_sp.yaw / _params.rc_scale(2); + if (_manual_control_sp.yaw > 0.0f) { yaw_sp_move_rate -= YAW_DEADZONE; + } else { yaw_sp_move_rate += YAW_DEADZONE; } + yaw_sp_move_rate *= _params.rc_scale(2); _v_att_sp.yaw_body = _wrap_pi(_v_att_sp.yaw_body + yaw_sp_move_rate * dt); _v_att_sp.R_valid = false; @@ -683,7 +687,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt) float rate_i = _rates_int(i) + _params.rate_i(i) * rates_err(i) * dt; if (isfinite(rate_i) && rate_i > -RATES_I_LIMIT && rate_i < RATES_I_LIMIT && - _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) { + _att_control(i) > -RATES_I_LIMIT && _att_control(i) < RATES_I_LIMIT) { _rates_int(i) = rate_i; } } |