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convert -PI to PI attitude range to -1 to 1 for gimbal output

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This commit is contained in:
Andreas Antener
2015-05-04 13:10:58 +02:00
committed by Lorenz Meier
parent f76d693592
commit 86cd484b82
1 changed files with 3 additions and 3 deletions
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src/drivers/gimbal/gimbal.cpp
+3 -3
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@@ -306,17 +306,17 @@ Gimbal::cycle()
orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att); orb_copy(ORB_ID(vehicle_attitude), _att_sub, &att);
if (_attitude_compensation_roll) { if (_attitude_compensation_roll) {
roll = -att.roll; roll = 1.0f / M_PI_F * -att.roll;
updated = true; updated = true;
} }
if (_attitude_compensation_pitch) { if (_attitude_compensation_pitch) {
pitch = -att.pitch; pitch = 1.0f / M_PI_F * -att.pitch;
updated = true; updated = true;
} }
if (_attitude_compensation_yaw) { if (_attitude_compensation_yaw) {
yaw = att.yaw; yaw = 1.0f / M_PI_F * att.yaw;
updated = true; updated = true;
} }