1
0
Fork 0
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:
mikeller 2019-11-17 14:05:07 +13:00
parent 33ba8a043e
commit e0a6f1ab14
9 changed files with 52 additions and 33 deletions

View file

@ -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 {