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Sub: replace smoothing gain with AC_AttitudeControl::set_input_tc

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Randy Mackay
2018-03-16 13:50:57 +09:00
parent a727305a59
commit da17034a3d
10 changed files with 27 additions and 51 deletions
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ArduSub/control_surface.cpp
+1 -1
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@@ -48,7 +48,7 @@ void Sub::surface_run()
target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
// call attitude controller
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate, get_smoothing_gain());
attitude_control.input_euler_angle_roll_pitch_euler_rate_yaw(target_roll, target_pitch, target_yaw_rate);
// set target climb rate
float cmb_rate = constrain_float(abs(wp_nav.get_speed_up()), 1, pos_control.get_speed_up());