Eigen Revision
Dependencies: mbed LPS25HB_I2C LSM9DS1 PIDcontroller Autopilot_Eigen LoopTicker GPSUBX_UART_Eigen SBUS_without_mainfile MedianFilter Eigen UsaPack solaESKF_Eigen Vector3 CalibrateMagneto FastPWM
Diff: autopilot.cpp
- Revision:
- 128:e94453d3f699
- Parent:
- 124:7d6b1b62483b
- Child:
- 131:45542fcc886f
diff -r d73a6233ee4b -r e94453d3f699 autopilot.cpp --- a/autopilot.cpp Mon Nov 22 09:51:51 2021 +0000 +++ b/autopilot.cpp Thu Nov 25 10:18:27 2021 +0000 @@ -2,7 +2,7 @@ void level_flight() { - autopilot.update_val(rpy, palt, pi, vi); + autopilot.update_val(rpy, -palt, pi, vi); autopilot.level(); autopilot.keep_alt(); autopilot.return_val(roll_obj, pitch_obj, dT_obj); @@ -10,7 +10,7 @@ void point_guide() { - autopilot.update_val(rpy, palt, pi, vi); + autopilot.update_val(rpy, -palt, pi, vi); autopilot.guide(); autopilot.keep_alt(); autopilot.return_val(roll_obj, pitch_obj, dT_obj);