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Sub: AC_AttitudeControl: Rename euler/body derivative transform functions

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Leonard Hall
2026-02-03 12:02:57 +10:30
committed by Peter Barker
parent 763464f2ef
commit 63a3982dfe
1 changed files with 1 additions and 1 deletions
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ArduSub/mode.cpp
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@@ -252,7 +252,7 @@ void Mode::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in, int1
} }
// convert earth-frame level rates to body-frame level rates // convert earth-frame level rates to body-frame level rates
attitude_control->euler_rate_to_ang_vel(attitude_control->get_attitude_target_quat(), rate_ef_level, rate_bf_level); attitude_control->euler_derivative_to_body(attitude_control->get_attitude_target_quat(), rate_ef_level, rate_bf_level);
// combine earth frame rate corrections with rate requests // combine earth frame rate corrections with rate requests
if (g.acro_trainer == ACRO_TRAINER_LIMITED) { if (g.acro_trainer == ACRO_TRAINER_LIMITED) {