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[rotorcraft] fix RC quaternion setpoint reading

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orientation vector angles should not be dividied by two,
thats handled correctly in FLOAT_QUAT_OF_ORIENTATION_VECT
This commit is contained in:
Felix Ruess
2013-11-18 21:24:47 +01:00
parent 89b0036169
commit 7c425ae76b
1 changed files with 2 additions and 2 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c
+2 -2
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@@ -223,8 +223,8 @@ void stabilization_attitude_read_rc_setpoint_eulers_f(struct FloatEulers *sp, bo
void stabilization_attitude_read_rc_roll_pitch_quat_f(struct FloatQuat* q) { void stabilization_attitude_read_rc_roll_pitch_quat_f(struct FloatQuat* q) {
/* orientation vector describing simultaneous rotation of roll/pitch */ /* orientation vector describing simultaneous rotation of roll/pitch */
struct FloatVect3 ov; struct FloatVect3 ov;
ov.x = radio_control.values[RADIO_ROLL] * STABILIZATION_ATTITUDE_SP_MAX_PHI / MAX_PPRZ / 2; ov.x = radio_control.values[RADIO_ROLL] * STABILIZATION_ATTITUDE_SP_MAX_PHI / MAX_PPRZ;
ov.y = radio_control.values[RADIO_PITCH] * STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ / 2; ov.y = radio_control.values[RADIO_PITCH] * STABILIZATION_ATTITUDE_SP_MAX_THETA / MAX_PPRZ;
ov.z = 0.0; ov.z = 0.0;
/* quaternion from that orientation vector */ /* quaternion from that orientation vector */