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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 12:29:48 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-11-24 12:29:48 +0100 |
| commit | 85a76a32c5be43e8f1a4d82041e1b860dc21e217 (patch) | |
| tree | 5bbfc7518e053bc36e80fca78018d47cd5bf7ddd /src/lib | |
| parent | f267fcf4ff2da214560d3be7b9c6583cefac4475 (diff) | |
| download | px4-firmware-85a76a32c5be43e8f1a4d82041e1b860dc21e217.tar.gz px4-firmware-85a76a32c5be43e8f1a4d82041e1b860dc21e217.tar.bz2 px4-firmware-85a76a32c5be43e8f1a4d82041e1b860dc21e217.zip | |
tecs: roll2thr: fix to be consistent with comment
Diffstat (limited to 'src/lib')
| -rw-r--r-- | src/lib/external_lgpl/tecs/tecs.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/lib/external_lgpl/tecs/tecs.cpp b/src/lib/external_lgpl/tecs/tecs.cpp index fb7ffccda..a2ac6507e 100644 --- a/src/lib/external_lgpl/tecs/tecs.cpp +++ b/src/lib/external_lgpl/tecs/tecs.cpp @@ -300,7 +300,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Dcm &rotMat) // additional component which scales with (1/cos(bank angle) - 1) to compensate for induced // drag increase during turns. float cosPhi = sqrtf((rotMat(0, 1) * rotMat(0, 1)) + (rotMat(1, 1) * rotMat(1, 1))); - STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi * cosPhi , 0.1f, 1.0f) - 1.0f); + STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f); if (STEdot_dem >= 0) { ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr); |