fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 17:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

yaw setpoint: add math::radians

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/TranslationControl.cpp
+1 -4
View File
@@ -87,7 +87,6 @@ void TranslationControl::updateSetpoint(struct vehicle_local_position_setpoint_s
_acc_sp = Data(&setpoint.acc_x);
_yaw_sp = setpoint.yaw; //integrate
_yawspeed_sp = setpoint.yawspeed;
_interfaceMapping();
}
@@ -158,8 +157,6 @@ void TranslationControl::_positionController()
}
_vel_sp(2) = math::constrain(_vel_sp(2), -_VelMaxZ[0], _VelMaxZ[1]);
_velocityController(dt);
}
/* generates desired thrust vector */
@@ -278,7 +275,7 @@ void TranslationControl::_velocityController(const float &dt)
void TranslationControl::_yawController(const float &dt)
{
const float yaw_offset_max = _YawRateMax / _Pyaw;
const float yaw_offset_max = math::radians(_YawRateMax) / _Pyaw;
const float yaw_target = _wrap_pi(_yaw_sp + _yawspeed_sp * dt);
const float yaw_offset = _wrap_pi(yaw_target - _yaw);