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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-20 19:53:49 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-20 19:53:49 +0200 |
| commit | 42c61271ea73be29a21110980764d1a68f8ee530 (patch) | |
| tree | 3751506173ace9054fda8f1630c976901a932fad /apps/multirotor_att_control | |
| parent | 5ec5754f26f1059847b7f149bcbdf2b0d11a5115 (diff) | |
| download | px4-firmware-42c61271ea73be29a21110980764d1a68f8ee530.tar.gz px4-firmware-42c61271ea73be29a21110980764d1a68f8ee530.tar.bz2 px4-firmware-42c61271ea73be29a21110980764d1a68f8ee530.zip | |
remove bogus dt from att rate
Diffstat (limited to 'apps/multirotor_att_control')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_attitude_control.c | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index c3da85c5c..a08ee5e46 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -249,7 +249,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s att->roll, att->rollspeed, deltaT); /* control yaw rate */ - rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body)); + rates_sp->yaw = p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body)); |