fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-03 19:40:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

sensors: create vehicle_angular_velocity module (#12596)

Browse Source 
* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
This commit is contained in:
Daniel Agar
2019-08-06 12:55:25 -04:00
committed by GitHub
parent bf0eaf4d54
commit 2ad12d7977
34 changed files with 784 additions and 382 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+2 -1
View File
@@ -1016,7 +1016,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
fabsf(_manual.r) < HDG_HOLD_MAN_INPUT_THRESH) {
/* heading / roll is zero, lock onto current heading */
if (fabsf(_att.yawspeed) < HDG_HOLD_YAWRATE_THRESH && !_yaw_lock_engaged) {
if (fabsf(_vehicle_rates_sub.get().xyz[2]) < HDG_HOLD_YAWRATE_THRESH && !_yaw_lock_engaged) {
// little yaw movement, lock to current heading
_yaw_lock_engaged = true;
@@ -1759,6 +1759,7 @@ FixedwingPositionControl::run()
vehicle_control_mode_poll();
_vehicle_land_detected_sub.update(&_vehicle_land_detected);
vehicle_status_poll();
_vehicle_rates_sub.update();
Vector2f curr_pos((float)_global_pos.lat, (float)_global_pos.lon);
Vector2f ground_speed(_global_pos.vel_n, _global_pos.vel_e);