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Code Issues Releases Activity

manual control was mapping tx input as -180º -> 180º for AttitudeDesired.Yaw.

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The Wiki (http://wiki.openpilot.org/Unit_Standards) states this should be 0 - 360º
Made the code match the wiki.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1463 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
andrew 2010-08-30 01:16:00 +00:00 committed by andrew
parent f55e9cf819
commit 3c6d9d6976
1 changed files with 8 additions and 1 deletions
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9
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
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@ -197,7 +197,14 @@ static void manualControlTask(void* parameters)
{ {
attitude.Roll = cmd.Roll*stabSettings.RollMax; attitude.Roll = cmd.Roll*stabSettings.RollMax;
attitude.Pitch = cmd.Pitch*stabSettings.PitchMax; attitude.Pitch = cmd.Pitch*stabSettings.PitchMax;
attitude.Yaw = cmd.Yaw*180.0; if (cmd.Yaw<0)
{
attitude.Yaw = 360 + (cmd.Yaw*180.0);
}
else
{
attitude.Yaw = (cmd.Yaw*180.0);
}
attitude.Throttle = cmd.Throttle*stabSettings.ThrottleMax; attitude.Throttle = cmd.Throttle*stabSettings.ThrottleMax;
AttitudeDesiredSet(&attitude); AttitudeDesiredSet(&attitude);
} }