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Posted: **Fri Mar 28, 2014 9:29 am**

hi :
i can't understand the "c" source " if (yawType == RATE) { yawRateDesired = -eulerYawDesired; }"//why?
could you give me some help?
thank you.

Posted: **Fri Mar 28, 2014 2:58 pm**

If you mean why there is a minus in "-eulerYawDesired" it is because the mapping in the driver layer was made wrong and it was corrected there. Something we should probably fix.

If you wander what the if state does, it bypasses the attitude PID and places it in "rate" mode for yaw.

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