Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen
Diff: Autopilot.cpp
- Revision:
- 4:1117ad251fef
- Parent:
- 3:46d4a32011fc
- Child:
- 6:1f5e6efff5b4
diff -r 46d4a32011fc -r 1117ad251fef Autopilot.cpp --- a/Autopilot.cpp Fri Nov 12 12:55:25 2021 +0000 +++ b/Autopilot.cpp Mon Nov 15 13:41:51 2021 +0000 @@ -43,7 +43,7 @@ else { roll_obj = 0.35f; //基準 - roll_obj -= 0.6f * (0.5f*M_PI - yaw_dif); //旋回中心方向に対する角度を90[deg]にする + roll_obj -= 0.6f * (angdif_pi(0.5f*M_PI - yaw_dif)); //旋回中心方向に対する角度を90[deg]にする if (std::abs(0.5f*M_PI - yaw_dif) < deg2rad(5)) //距離を保つ roll_obj -= 0.035f * (turn_r - dist); else