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mc_pos_control_main: changes got lost in rebase

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Julian Oes 2016-12-09 15:56:19 +01:00 committed by Lorenz Meier
parent b285827f52
commit 072ba51064
1 changed files with 4 additions and 5 deletions
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9
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -2139,11 +2139,10 @@ MulticopterPositionControl::generate_attitude_setpoint(float dt)
z_roll_pitch_sp = R_yaw_correction * z_roll_pitch_sp;
// use the formula z_roll_pitch_sp = R_tilt * [0;0;1]
// to calculate the new desired roll and pitch angles
// R_tilt can be written as a function of the new desired roll and pitch
// angles. we get three equations and have to solve for 2 unknowns
_att_sp.pitch_body = asinf(z_roll_pitch_sp(0));
_att_sp.roll_body = -atan2f(z_roll_pitch_sp(1), z_roll_pitch_sp(2));
// R_tilt is computed from_euler; only true if cos(roll) not equal zero
// -> 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));
}
/* copy quaternion setpoint to attitude setpoint topic */