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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-26 17:42:08 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-26 17:42:08 +0100 |
| commit | 9bc044eae91a2d0f0f7d71b7a1d178663008aace (patch) | |
| tree | bc8b6ce1cd3017d3258daa7de9e3681f3f8a442d /apps/fixedwing_pos_control | |
| parent | 7cc712b286f3a6132e8abb897d099dabea9bca72 (diff) | |
| download | px4-firmware-9bc044eae91a2d0f0f7d71b7a1d178663008aace.tar.gz px4-firmware-9bc044eae91a2d0f0f7d71b7a1d178663008aace.tar.bz2 px4-firmware-9bc044eae91a2d0f0f7d71b7a1d178663008aace.zip | |
More fixed wing improvements
Diffstat (limited to 'apps/fixedwing_pos_control')
| -rw-r--r-- | apps/fixedwing_pos_control/fixedwing_pos_control_main.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 45736aa2f..2dab705e1 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -334,7 +334,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) float psi_rate_e = psi_rate_c - att.yawspeed; - float psi_rate_e_scaled = psi_rate_e * sqrtf(pow(global_pos.vx,2) + pow(global_pos.vy,2)) / 9.81f; //* V_gr / g + float psi_rate_e_scaled = psi_rate_e * sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy) / 9.81f; //* V_gr / g attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT); |