rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-29 14:52:12 +01:00
Code Issues Releases Activity

Flight/Stabilization: fix for -180/+180 yaw transition which caused glitches in the stab module.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1853 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
edouard 2010-10-03 16:43:10 +00:00 committed by edouard
parent dd0d58f64f
commit eeb5eab177
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
flight/OpenPilot/Modules/Stabilization/simple/Stabilization/stabilization.c
View File

@ -158,7 +158,11 @@ static void stabilizationTask(void* parameters)
( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_HELICP))
{
if(stabSettings.YawMode == STABILIZATIONSETTINGS_YAWMODE_RATE) { // rate stabilization on yaw
yawChange = (attitudeActual.Yaw - yawPrevious) / dT;
// Avoid a huge (wrong) change if we crossed 0/360
yawChange = attitudeActual.Yaw - yawPrevious;
if (yawChange>180.0) yawChange -= 360;
if (yawChange<-180.0) yawChange += 360;
yawChange = yawChange / dT;
yawPrevious = attitudeActual.Yaw;
yawError = bound(attitudeDesired.Yaw, -stabSettings.YawMax, stabSettings.YawMax) - yawChange;
} else { // heading stabilization