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Code Issues Releases Activity

Flight/Stabilization: Yaw rate stabilization error should be normalized by dt

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1669 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2010-09-17 02:00:55 +00:00 committed by peabody124
parent b1b4b15ef4
commit 41b7a99883
1 changed files with 1 additions and 1 deletions
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flight/OpenPilot/Modules/Stabilization/simple/Stabilization/stabilization.c
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@ -130,7 +130,7 @@ static void stabilizationTask(void* parameters)
if (( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL )||( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_HELICP))
{
if(stabSettings.YawMode == STABILIZATIONSETTINGS_YAWMODE_RATE) { // rate stabilization on yaw
yawChange = attitudeActual.Yaw - yawPrevious;
yawChange = (attitudeActual.Yaw - yawPrevious) / stabSettings.UpdatePeriod;
yawPrevious = attitudeActual.Yaw;
yawError = bound(attitudeDesired.Yaw, -stabSettings.YawMax, stabSettings.YawMax) - yawChange;
} else { // heading stabilization