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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-06-30 12:31:06 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-06-30 12:31:06 +0200 |
| commit | 1a6b2b9c1ebd127a662051393d266e2815d09524 (patch) | |
| tree | ce18d2597a2e61d56247360b20ee8e05942fade3 /src/modules/mc_pos_control/mc_pos_control_main.cpp | |
| parent | 72071cdcd39cae6be8533e67d01cbc7533ca6cb1 (diff) | |
| parent | 857b843d445f59f2dc393e4d5f879fc56f77a0e0 (diff) | |
| download | px4-firmware-1a6b2b9c1ebd127a662051393d266e2815d09524.tar.gz px4-firmware-1a6b2b9c1ebd127a662051393d266e2815d09524.tar.bz2 px4-firmware-1a6b2b9c1ebd127a662051393d266e2815d09524.zip | |
Merge branch 'master' into dataman_state_nav_rewrite
Diffstat (limited to 'src/modules/mc_pos_control/mc_pos_control_main.cpp')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 3 |
1 files changed, 1 insertions, 2 deletions
diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 09960d106..c24c172af 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -545,7 +545,6 @@ MulticopterPositionControl::task_main() hrt_abstime t_prev = 0; const float alt_ctl_dz = 0.2f; - const float pos_ctl_dz = 0.05f; math::Vector<3> sp_move_rate; sp_move_rate.zero(); @@ -862,7 +861,7 @@ MulticopterPositionControl::task_main() if (_control_mode.flag_control_velocity_enabled) { /* limit max tilt */ - if (thr_min >= 0.0f && tilt_max < M_PI / 2 - 0.05f) { + if (thr_min >= 0.0f && tilt_max < M_PI_F / 2 - 0.05f) { /* absolute horizontal thrust */ float thrust_sp_xy_len = math::Vector<2>(thrust_sp(0), thrust_sp(1)).length(); |