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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-22 12:20:06 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-22 12:20:06 +0400 |
| commit | fae6c694239194bbdbc7c872bb1a1d11a8894474 (patch) | |
| tree | 015d14c46b43598fa53fd9a5970b759518763dd0 /src/modules/mc_att_control_vector/mc_att_control_vector_main.cpp | |
| parent | ef5aa697c73e095f21143a64eb3cd112c85b3a08 (diff) | |
| download | px4-firmware-fae6c694239194bbdbc7c872bb1a1d11a8894474.tar.gz px4-firmware-fae6c694239194bbdbc7c872bb1a1d11a8894474.tar.bz2 px4-firmware-fae6c694239194bbdbc7c872bb1a1d11a8894474.zip | |
mc_att_control_vector, multirotor_pos_control: 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 | 2 |
1 files changed, 1 insertions, 1 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 63aece1d9..76f053372 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 @@ -630,7 +630,7 @@ MulticopterAttitudeControl::task_main() math::Vector3 rates_sp = _K * e_R; /* feed forward yaw setpoint rate */ - rates_sp(2) += yaw_sp_move_rate; + rates_sp(2) += yaw_sp_move_rate * yaw_w; math::Vector3 control = _K_rate_p * (rates_sp - rates) + _K_rate_d * (_rates_prev - rates) / fmaxf(dt, 0.003f); _rates_prev = rates; |