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AC_PosControl: minor enhancement to lean_angles_to_accel

mission-4.1.18
Leonard Hall 7 years ago committed by Randy Mackay
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44dd079cb9
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e249e06714
1 changed files with 2 additions and 2 deletions
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  1. 4
      libraries/AC_AttitudeControl/AC_PosControl.cpp

4
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -1020,8 +1020,8 @@ void AC_PosControl::accel_to_lean_angles(float dt, float ekfNavVelGainScaler, bo @@ -1020,8 +1020,8 @@ void AC_PosControl::accel_to_lean_angles(float dt, float ekfNavVelGainScaler, bo
void AC_PosControl::lean_angles_to_accel(float& accel_x_cmss, float& accel_y_cmss) const
{
// rotate our roll, pitch angles into lat/lon frame
accel_x_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.cos_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(), 0.5f)) - _ahrs.sin_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll()*_ahrs.cos_pitch(), 0.5f));
accel_y_cmss = (GRAVITY_MSS * 100) * (-(_ahrs.sin_yaw() * _ahrs.sin_pitch() / MAX(_ahrs.cos_pitch(), 0.5f)) + _ahrs.cos_yaw() * _ahrs.sin_roll() / MAX(_ahrs.cos_roll()*_ahrs.cos_pitch(), 0.5f));
accel_x_cmss = (GRAVITY_MSS * 100) * (-_ahrs.cos_yaw() * _ahrs.sin_pitch() * _ahrs.cos_roll() - _ahrs.sin_yaw() * _ahrs.sin_roll()) / MAX(_ahrs.cos_roll()*_ahrs.cos_pitch(), 0.5f);
accel_y_cmss = (GRAVITY_MSS * 100) * (-_ahrs.sin_yaw() * _ahrs.sin_pitch() * _ahrs.cos_roll() + _ahrs.cos_yaw() * _ahrs.sin_roll()) / MAX(_ahrs.cos_roll()*_ahrs.cos_pitch(), 0.5f);
}
/// calc_leash_length - calculates the horizontal leash length given a maximum speed, acceleration and position kP gain

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