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Convert bank angle to radians

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This commit is contained in:
Alexander van Saase 2020-12-12 21:42:19 +01:00
parent 214f939a1f
commit cf2e35908a
1 changed files with 1 additions and 1 deletions
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src/main/flight/pid.c
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@ -871,7 +871,7 @@ static void NOINLINE pidTurnAssistant(pidState_t *pidState)
airspeedForCoordinatedTurn = constrainf(airspeedForCoordinatedTurn, 300, 6000);
// Calculate rate of turn in Earth frame according to FAA's Pilot's Handbook of Aeronautical Knowledge
float bankAngleTarget = pidRcCommandToAngle(rcCommand[FD_ROLL], pidProfile()->max_angle_inclination[FD_ROLL]);
float bankAngleTarget = DECIDEGREES_TO_RADIANS(pidRcCommandToAngle(rcCommand[FD_ROLL], pidProfile()->max_angle_inclination[FD_ROLL]));
float coordinatedTurnRateEarthFrame = GRAVITY_CMSS * tan_approx(-bankAngleTarget) / airspeedForCoordinatedTurn;
targetRates.z = RADIANS_TO_DEGREES(coordinatedTurnRateEarthFrame);