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Code Issues Releases Activity

LP-214 Calc changes

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This commit is contained in:
Laurent Lalanne 2016-01-16 11:39:00 +01:00
parent f20adf00f5
commit 580ef50efb
1 changed files with 4 additions and 4 deletions
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8
flight/modules/ManualControl/stabilizedhandler.c
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@ -107,10 +107,10 @@ void stabilizedHandler(bool newinit)
float yawCommand = cmd.Yaw;
// http://shrediquette.blogspot.de/2016/01/some-thoughts-on-camera-tilt.html
// Roll_output = cos(camera_tilt) * Roll_input - sin(camera_tilt) * Yaw_input
// Yaw_output = sin(camera_tilt) * Roll_input + cos(camera_tilt) * Yaw_input
cmd.Roll = boundf((cosAngle * rollCommand) - (sinAngle * yawCommand), -1.0f, 1.0f);
cmd.Yaw = boundf((cosAngle * yawCommand) + (sinAngle * rollCommand), -1.0f, 1.0f);
// When Roll right, add negative Yaw.
// When Yaw left, add negative Roll.
cmd.Roll = boundf((cosAngle * rollCommand) + (sinAngle * yawCommand), -1.0f, 1.0f);
cmd.Yaw = boundf((cosAngle * yawCommand) - (sinAngle * rollCommand), -1.0f, 1.0f);
}
uint8_t *stab_settings;