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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-02 00:33:36 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-02 00:33:36 +0200 |
| commit | a9fd5ed90ad67a8081aec3dd3c05034c3d64f81c (patch) | |
| tree | 74065b07dc620e8e22751563d548a140b17966e4 /src/modules/mc_pos_control | |
| parent | 43b9d96cf4306bc472d16956f5437dbef7c630c0 (diff) | |
| parent | 4cd66a3242aa2dfb03a3e58ffcc8d27e1350b7ac (diff) | |
| download | px4-firmware-a9fd5ed90ad67a8081aec3dd3c05034c3d64f81c.tar.gz px4-firmware-a9fd5ed90ad67a8081aec3dd3c05034c3d64f81c.tar.bz2 px4-firmware-a9fd5ed90ad67a8081aec3dd3c05034c3d64f81c.zip | |
Merged master to gnss_rework
Diffstat (limited to 'src/modules/mc_pos_control')
| -rw-r--r-- | src/modules/mc_pos_control/mc_pos_control_main.cpp | 5 |
1 files changed, 2 insertions, 3 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..bcc3e2ae7 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -466,7 +466,7 @@ MulticopterPositionControl::update_ref() { if (_local_pos.ref_timestamp != _ref_timestamp) { double lat_sp, lon_sp; - float alt_sp; + float alt_sp = 0.0f; if (_ref_timestamp != 0) { /* calculate current position setpoint in global frame */ @@ -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(); |