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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 18:14:34 +0200 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-10-24 18:14:34 +0200 |
| commit | 19ae09dbad3fb5d2cfa73cf8476cab654e53581f (patch) | |
| tree | 1f34424301d9860e1cd1f5aea75f1a262052c6cf /src/modules/fw_att_control/fw_att_control_main.cpp | |
| parent | 61fafcbc785525641b137389e3e5cd96b72cfbc1 (diff) | |
| parent | 273bc52acc73cb43f31acf5869d0e536def0eec8 (diff) | |
| download | px4-firmware-19ae09dbad3fb5d2cfa73cf8476cab654e53581f.tar.gz px4-firmware-19ae09dbad3fb5d2cfa73cf8476cab654e53581f.tar.bz2 px4-firmware-19ae09dbad3fb5d2cfa73cf8476cab654e53581f.zip | |
Merge branch 'fw_jacobians_and_yaw' into fw_staging
Diffstat (limited to 'src/modules/fw_att_control/fw_att_control_main.cpp')
| -rw-r--r-- | src/modules/fw_att_control/fw_att_control_main.cpp | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp index 277259330..13c68f077 100644 --- a/src/modules/fw_att_control/fw_att_control_main.cpp +++ b/src/modules/fw_att_control/fw_att_control_main.cpp @@ -673,9 +673,9 @@ FixedwingAttitudeControl::task_main() float speed_body_u = 0.0f; float speed_body_w = 0.0f; if(_att.R_valid) { - speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[0][1] * _global_pos.vy + _att.R[0][2] * _global_pos.vz; -// speed_body_v = _att.R[1][0] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[1][2] * _global_pos.vz; - speed_body_w = _att.R[2][0] * _global_pos.vx + _att.R[2][1] * _global_pos.vy + _att.R[2][2] * _global_pos.vz; + speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[1][0] * _global_pos.vy + _att.R[2][0] * _global_pos.vz; +// speed_body_v = _att.R[0][1] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[2][1] * _global_pos.vz; + speed_body_w = _att.R[0][2] * _global_pos.vx + _att.R[1][2] * _global_pos.vy + _att.R[2][2] * _global_pos.vz; } else { warnx("Did not get a valid R\n"); } |