aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2025-08-17 17:16:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

More clean yaw error calculation

Browse Source
This commit is contained in:
Oleg Kalachev
2024-10-20 10:32:35 +03:00
parent 5613028678
commit 84a329cca7
1 changed files with 2 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
flix/control.ino
View File

@@ -123,7 +123,8 @@ void controlAttitude() {
ratesTarget.y = pitchPID.update(error.y, dt);
if (yawMode == YAW) {
ratesTarget.z = yawPID.update(wrapAngle(attitudeTarget.getYaw() - attitude.getYaw()), dt);
float yawError = wrapAngle(attitudeTarget.getYaw() - attitude.getYaw());
ratesTarget.z = yawPID.update(yawError, dt);
}
}