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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-15 10:22:42 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-15 10:22:42 +0200 |
| commit | 8e43db7bc0c1d1f7525401c3df9e0227781ab454 (patch) | |
| tree | 6a3c069535ad975b5d0e3fcbbc4293656005a622 /src/modules/mc_att_control | |
| parent | 42a7d80a8119bd583e40ffda957d195fd7e81b9d (diff) | |
| download | px4-firmware-8e43db7bc0c1d1f7525401c3df9e0227781ab454.tar.gz px4-firmware-8e43db7bc0c1d1f7525401c3df9e0227781ab454.tar.bz2 px4-firmware-8e43db7bc0c1d1f7525401c3df9e0227781ab454.zip | |
mc_att_control: yaw offset limiting bug fixed
Diffstat (limited to 'src/modules/mc_att_control')
| -rw-r--r-- | src/modules/mc_att_control/mc_att_control_main.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp index e74546f11..ee457c120 100644 --- a/src/modules/mc_att_control/mc_att_control_main.cpp +++ b/src/modules/mc_att_control/mc_att_control_main.cpp @@ -509,10 +509,10 @@ MulticopterAttitudeControl::control_attitude(float dt) float yaw_offs_max = _params.man_yaw_max / _params.att_p(2); float yaw_offs = _wrap_pi(_v_att_sp.yaw_body - _v_att.yaw); if (yaw_offs < - yaw_offs_max) { - _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs); + _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw - yaw_offs_max); } else if (yaw_offs > yaw_offs_max) { - _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs); + _v_att_sp.yaw_body = _wrap_pi(_v_att.yaw + yaw_offs_max); } _v_att_sp.R_valid = false; publish_att_sp = true; |