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yaw setpoint: add math::radians

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent f0f84d300b
commit 6e63ddacd2
2 changed files with 4 additions and 6 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualAltitude.cpp
+3 -2
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@@ -67,13 +67,13 @@ void FlightTaskManualAltitude::scale_sticks()
/* map stick to velocity */
const float vel_max_z = (_sticks(2) > 0.0f) ? _vel_max_down.get() : _vel_max_up.get();
_vel_sp_z = vel_max_z * _sticks_expo(2);
_yaw_rate_sp = _sticks(3) * _yaw_rate_scaling.get();
_yaw_rate_sp = _sticks(3) * math::radians(_yaw_rate_scaling.get());
}
void FlightTaskManualAltitude::update_heading_setpoints()
{
if (fabsf(_sticks(3) < FLT_EPSILON)) {
if (fabsf(_sticks(3)) < FLT_EPSILON) {
/* want to hold yaw */
_yaw_rate_sp = NAN;
_yaw_sp = _yaw_sp_predicted;
@@ -110,6 +110,7 @@ bool FlightTaskManualAltitude::update()
scale_sticks();
update_setpoints();
_setPositionSetpoint(Vector3f(NAN, NAN, _pos_sp_z));
_setVelocitySetpoint(Vector3f(NAN, NAN, _vel_sp_z));
_setYawSetpoint(_yaw_sp);