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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 10:38:23 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 10:38:23 +0200 |
| commit | 5d3d17d025fa860879b145a99ec80afb7db38edc (patch) | |
| tree | 3e2e5084612f510160d27cfa4300f7b6b95c19a5 /apps/multirotor_att_control | |
| parent | 32e586d4b7561d1018e29aa59f572c3bac625024 (diff) | |
| download | px4-firmware-5d3d17d025fa860879b145a99ec80afb7db38edc.tar.gz px4-firmware-5d3d17d025fa860879b145a99ec80afb7db38edc.tar.bz2 px4-firmware-5d3d17d025fa860879b145a99ec80afb7db38edc.zip | |
Increased priority of MAVLink receiver thread
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 00b759d73..33cab5cc9 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -248,7 +248,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s att->roll, att->rollspeed, deltaT)*1/10.0f; /* control yaw rate */ //float yaw_rate_control = pid_calculate(&yaw_speed_controller, att_sp->yaw_body, att->yawspeed, 0.0f, deltaT)*1/10.0f; - rates_sp->yaw= deltaT*p.yaw_p*atan2f(sinf(att->yaw-att_sp->yaw_body),cos(att->yaw-att_sp->yaw_body)); + rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body),cos(att->yaw - att_sp->yaw_body)); |