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Use mix pitch into beta yaw feedback (ignore beta when hovering)

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Allen Ibara
2009-10-08 22:54:04 +00:00
parent 90a48f3034
commit 9b55bb5655
1 changed files with 1 additions and 1 deletions
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sw/airborne/booz/stabilization/booz_stabilization_attitude_quat_float.c
+1 -1
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@@ -95,7 +95,7 @@ static void update_ref_quat_from_eulers(void) {
void booz_stabilization_attitude_read_beta_vane(float beta)
{
booz_stab_att_sp_euler.psi += beta / RC_UPDATE_FREQ;
booz_stab_att_sp_euler.psi += booz_ahrs_float.ltp_to_body_euler.theta * beta / RC_UPDATE_FREQ;
update_sp_quat_from_eulers();
}