diff options
Diffstat (limited to 'src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp')
| -rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index 04293efd6..a4ecc48a2 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -59,21 +59,22 @@ ECL_YawController::ECL_YawController() : _rate_error(0.0f), _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f), - _coordinated(0.0f) + _coordinated_min_speed(1.0f) { } float ECL_YawController::control_attitude(float roll, float pitch, - float speed_body_u, float speed_body_w, + float speed_body_u, float speed_body_v, float speed_body_w, float roll_rate_setpoint, float pitch_rate_setpoint) { // static int counter = 0; /* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */ _rate_setpoint = 0.0f; - if (_coordinated > 0.1) { + if (sqrtf(speed_body_u * speed_body_u + speed_body_v * speed_body_v + speed_body_w * speed_body_w) > _coordinated_min_speed) { float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch)); if(denumerator != 0.0f) { //XXX: floating point comparison _rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator; +// warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint); } // if(counter % 20 == 0) { |