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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-01 14:03:42 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-01 14:03:42 +0400 |
| commit | 6827e45aee2f1a6e756c56a91b46152eb2ea5d08 (patch) | |
| tree | 74f7717c7ad3d6c97801e9118a1c3f43e9e753fa /src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp | |
| parent | 8c1c7bca18e6d4c996852ef042a50ee34af6cc33 (diff) | |
| download | px4-firmware-6827e45aee2f1a6e756c56a91b46152eb2ea5d08.tar.gz px4-firmware-6827e45aee2f1a6e756c56a91b46152eb2ea5d08.tar.bz2 px4-firmware-6827e45aee2f1a6e756c56a91b46152eb2ea5d08.zip | |
mc_pos_control, mc_att_control_vector: code style fixed
Diffstat (limited to 'src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp')
| -rw-r--r-- | src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp index 5f436fb71..f13c04e45 100644 --- a/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp +++ b/src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp @@ -530,6 +530,7 @@ MulticopterAttitudeControl::task_main() if (_att_sp.R_valid) { /* rotation matrix in _att_sp is valid, use it */ R_sp.set(&_att_sp.R_body[0][0]); + } else { /* rotation matrix in _att_sp is not valid, use euler angles instead */ R_sp.from_euler(_att_sp.roll_body, _att_sp.pitch_body, _att_sp.yaw_body); |