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[rotorcraft] guidance_h: normalize psi sp from nav_heading

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Felix Ruess
2013-08-13 17:20:07 +02:00
parent 104acd2767
commit c32ea43ed2
1 changed files with 1 additions and 0 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
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@@ -267,6 +267,7 @@ void guidance_h_run(bool_t in_flight) {
/* set psi command */ /* set psi command */
guidance_h_command_body.psi = nav_heading; guidance_h_command_body.psi = nav_heading;
INT32_ANGLE_NORMALIZE(guidance_h_command_body.psi);
/* compute roll and pitch commands and set final attitude setpoint */ /* compute roll and pitch commands and set final attitude setpoint */
guidance_h_traj_run(in_flight); guidance_h_traj_run(in_flight);
} }