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ArduCopter: bug fix in earth-frame to body-frame conversion for roll

master
rmackay9 13 years ago
parent
05fd04134a
commit
7cf60e61b4
1 changed files with 1 additions and 1 deletions
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  1. 2
      ArduCopter/Attitude.pde

2
ArduCopter/Attitude.pde
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@ -224,7 +224,7 @@ get_acro_yaw(int32_t target_rate) @@ -224,7 +224,7 @@ get_acro_yaw(int32_t target_rate)
update_rate_contoller_targets()
{
// convert earth frame rates to body frame rates
roll_rate_target_bf = roll_rate_target_ef + sin_pitch * yaw_rate_target_ef;
roll_rate_target_bf = roll_rate_target_ef - sin_pitch * yaw_rate_target_ef;
pitch_rate_target_bf = cos_roll_x * pitch_rate_target_ef + sin_roll * yaw_rate_target_ef;
yaw_rate_target_bf = cos_pitch_x * cos_roll_x * yaw_rate_target_ef + sin_roll * pitch_rate_target_ef;
}

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