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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-20 21:51:45 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 10:29:17 +0200 |
| commit | 1cb73687f7acd4ae3263c40940afe057b1b7d368 (patch) | |
| tree | 376708ac0dc7dcbd6bde18b647366e9b010c76b7 /src/lib/ecl/l1/ecl_l1_pos_controller.cpp | |
| parent | cc324f2624cc3a4347d736fd5634672d5a2716e9 (diff) | |
| download | px4-firmware-1cb73687f7acd4ae3263c40940afe057b1b7d368.tar.gz px4-firmware-1cb73687f7acd4ae3263c40940afe057b1b7d368.tar.bz2 px4-firmware-1cb73687f7acd4ae3263c40940afe057b1b7d368.zip | |
added parameter for maximal roll angle
Diffstat (limited to 'src/lib/ecl/l1/ecl_l1_pos_controller.cpp')
| -rw-r--r-- | src/lib/ecl/l1/ecl_l1_pos_controller.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp index daf136d49..196ded26c 100644 --- a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp +++ b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp @@ -43,7 +43,7 @@ float ECL_L1_Pos_Controller::nav_roll() { float ret = atanf(_lateral_accel * 1.0f / CONSTANTS_ONE_G); - ret = math::constrain(ret, (-M_PI_F) / 2.0f, M_PI_F / 2.0f); + ret = math::constrain(ret, -_roll_lim_rad, _roll_lim_rad); return ret; } |