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FlightTaskManualStabilzied: check for absolute yaw

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Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent cfa412b55f
commit 742e9f7b15
1 changed files with 1 additions and 1 deletions
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src/lib/FlightTasks/tasks/FlightTaskManualStabilized.cpp
+1 -1
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@@ -75,7 +75,7 @@ void FlightTaskManualStabilized::_updateHeadingSetpoints()
/* Yaw-lock depends on stick input. If not locked, /* Yaw-lock depends on stick input. If not locked,
* yaw_sp is set to NAN. * yaw_sp is set to NAN.
* TODO: add yawspeed to get threshold.*/ * TODO: add yawspeed to get threshold.*/
if (_yawspeed_setpoint > FLT_EPSILON) { if (fabsf(_yawspeed_setpoint) > FLT_EPSILON) {
// no fixed heading when rotating around yaw by stick // no fixed heading when rotating around yaw by stick
_yaw_setpoint = NAN; _yaw_setpoint = NAN;