+
+void DroneControl::rotationReadingsChanged()
+{
+ if(m_useAccel && m_ctrlActive) {
+ m_pitch=rSensor->reading()->x()-m_rotRefX;
+ m_roll =rSensor->reading()->y()-m_rotRefY;
+ m_pitch=(fabs(m_pitch)<m_ctrlTrsh ) ? 0:(m_pitch>0 ? m_pitch-m_ctrlTrsh:m_pitch+m_ctrlTrsh);
+ m_roll =(fabs(m_roll )<m_ctrlTrsh ) ? 0:(m_roll>0 ? m_roll- m_ctrlTrsh:m_roll+ m_ctrlTrsh);
+ droneThread->setDroneControl(m_pitch,m_roll,m_yaw,m_vv);
+ emit pitchRollChanged();
+ //m_rotRefZ=rSensor->reading()->z();
+ //qDebug("setCtrlActive ref(%3.1f,%3.1f,%3.1f)",m_rotRefX,m_rotRefY,m_rotRefZ);
+ }
+}
+