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| author | Julian Oes <julian@oes.ch> | 2014-03-29 11:16:15 +0100 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-03-29 11:16:15 +0100 |
| commit | 33d65eae97994ab5b47188853029965b18a819a2 (patch) | |
| tree | 8054384373de19db243a4a8289ff4c837da7d4ea /src/modules/fixedwing_backside/fixedwing.cpp | |
| parent | 873fa4cb40a8ac5b57f3212bb233027f422b92a3 (diff) | |
| parent | 9b1de5004c673ebe8bdf68f1b518565cccd6b05b (diff) | |
| download | px4-firmware-33d65eae97994ab5b47188853029965b18a819a2.tar.gz px4-firmware-33d65eae97994ab5b47188853029965b18a819a2.tar.bz2 px4-firmware-33d65eae97994ab5b47188853029965b18a819a2.zip | |
Merge remote-tracking branch 'px4/master' into bottle_drop
Diffstat (limited to 'src/modules/fixedwing_backside/fixedwing.cpp')
| -rw-r--r-- | src/modules/fixedwing_backside/fixedwing.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index f7c0b6148..cfae07275 100644 --- a/src/modules/fixedwing_backside/fixedwing.cpp +++ b/src/modules/fixedwing_backside/fixedwing.cpp @@ -175,14 +175,14 @@ void BlockMultiModeBacksideAutopilot::update() // the min/max velocity float v = _vLimit.update(sqrtf( _pos.vel_n * _pos.vel_n + - _pos.vy * _pos.vy + + _pos.vel_e * _pos.vel_e + _pos.vel_d * _pos.vel_d)); // limit velocity command between min/max velocity float vCmd = _vLimit.update(_vCmd.get()); // altitude hold - float dThrottle = _h2Thr.update(_missionCmd.current.altitude - _pos.alt); + float dThrottle = _h2Thr.update(_missionCmd.current.alt - _pos.alt); // heading hold float psiError = _wrap_pi(_guide.getPsiCmd() - _att.yaw); @@ -237,7 +237,7 @@ void BlockMultiModeBacksideAutopilot::update() // the min/max velocity float v = _vLimit.update(sqrtf( _pos.vel_n * _pos.vel_n + - _pos.vy * _pos.vy + + _pos.vel_e * _pos.vel_e + _pos.vel_d * _pos.vel_d)); // pitch channel -> rate of climb |