diff options
| author | Julian Oes <julian@oes.ch> | 2013-11-21 10:47:02 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2013-11-21 10:47:02 +0100 |
| commit | dca72ba6eefbda45060cbfb4033dacd64fd14403 (patch) | |
| tree | 92dddfad98c0ca40609b6e985cdd7aad7c970a4a /src/lib/ecl/l1 | |
| parent | 18941155b2f87ffd0d07f7a0a14a25dbdf05e8b4 (diff) | |
| download | px4-firmware-dca72ba6eefbda45060cbfb4033dacd64fd14403.tar.gz px4-firmware-dca72ba6eefbda45060cbfb4033dacd64fd14403.tar.bz2 px4-firmware-dca72ba6eefbda45060cbfb4033dacd64fd14403.zip | |
L1_pos_controller: Fixed strange bitwise or
Diffstat (limited to 'src/lib/ecl/l1')
| -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 31d7cecb7..11def2371 100644 --- a/src/lib/ecl/l1/ecl_l1_pos_controller.cpp +++ b/src/lib/ecl/l1/ecl_l1_pos_controller.cpp @@ -280,7 +280,7 @@ void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector2f &vector_A, cons */ // XXX check switch over - if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) | + if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) || (lateral_accel_sp_center > lateral_accel_sp_circle && loiter_direction < 0 && xtrack_err_circle > 0.0f)) { _lateral_accel = lateral_accel_sp_center; _circle_mode = false; |