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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-21 13:33:19 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-03-21 13:33:19 +0100 |
| commit | bc451eef4b92e21f575ad0b695d869f7316df2ce (patch) | |
| tree | 42eb3552554eb4dd68a3f348c91d84d74283de55 /src/modules/fixedwing_backside | |
| parent | d2a74dff673e2d3f49fc98dea601be753bd18416 (diff) | |
| parent | 057bcf3172f3c8d1bab561e7e4cad14977cd74d0 (diff) | |
| download | px4-firmware-bc451eef4b92e21f575ad0b695d869f7316df2ce.tar.gz px4-firmware-bc451eef4b92e21f575ad0b695d869f7316df2ce.tar.bz2 px4-firmware-bc451eef4b92e21f575ad0b695d869f7316df2ce.zip | |
Merge remote-tracking branch 'upstream/master' into diff_press_filter
Conflicts:
src/drivers/meas_airspeed/meas_airspeed.cpp
Diffstat (limited to 'src/modules/fixedwing_backside')
| -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 |