mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-19 22:35:23 +03:00
Improved fixed wing detection.
This commit is contained in:
parent
33ba8a043e
commit
e0a6f1ab14
9 changed files with 52 additions and 33 deletions
|
@ -451,7 +451,7 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
|
|||
#if defined(USE_GPS)
|
||||
if (!useMag && sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5 && gpsSol.groundSpeed >= GPS_COG_MIN_GROUNDSPEED) {
|
||||
// Use GPS course over ground to correct attitude.values.yaw
|
||||
if (STATE(FIXED_WING)) {
|
||||
if (isFixedWing()) {
|
||||
courseOverGround = DECIDEGREES_TO_RADIANS(gpsSol.groundCourse);
|
||||
useCOG = true;
|
||||
} else {
|
||||
|
|
Loading…
Add table
Add a link
Reference in a new issue