From 0bf1d04172f4ecb975cdd60df32f4a5b6db02ada Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 27 Jul 2015 16:37:10 +0900 Subject: [PATCH] AC_AttControl: relax earth frame rate targets along with bf --- libraries/AC_AttitudeControl/AC_AttitudeControl.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp index 15ffff3f04..3b858c51ee 100644 --- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp +++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp @@ -80,6 +80,7 @@ void AC_AttitudeControl::relax_bf_rate_controller() // ensure zero error in body frame rate controllers const Vector3f& gyro = _ahrs.get_gyro(); _rate_bf_target = gyro * AC_ATTITUDE_CONTROL_DEGX100; + frame_conversion_bf_to_ef(_rate_bf_target, _rate_ef_desired); _pid_rate_roll.reset_I(); _pid_rate_pitch.reset_I();