heading hold yaw correction

noobee · Post by **noobee** » Sun Mar 27, 2011 3:12 pm

hi

would like verify the behavior for heading hold through a magnetometer.

is positive heading in the clockwise direction like a compass heading and in the range of [-180,180]?

Code: Select all

      int16_t dif = heading - magHold;
      if (dif <= - 180) dif += 360;
      if (dif >= + 180) dif -= 360;
      rcCommand[YAW] += dif;

should the code for the yaw correction be

Code: Select all

      rcCommand[YAW] -= dif;