pass yaw directly

2026-09-04 07:13:41 +08:00 · 2025-09-07 17:22:27 +02:00
parent d7fa268432
commit 8812fde77c
1 changed files with 1 additions and 0 deletions
@@ -197,6 +197,7 @@ class Controls(ControlsExt, ModelStateBase):
    CC.rollCompensation = self.roll_compensation
    
    if self.calibrated_pose is not None:
+      CC.yawRate = self.calibrated_pose.angular_velocity.yaw
      CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
      CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()