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| author | Julian Oes <julian@oes.ch> | 2014-07-02 15:15:26 +0200 |
|---|---|---|
| committer | Julian Oes <julian@oes.ch> | 2014-07-02 15:15:26 +0200 |
| commit | 73d6121a9dbcd438f407edcd9b58bbb31bd94a42 (patch) | |
| tree | cd82ecf355e68b80db6403716b394737f45f5231 /src/modules/mc_pos_control | |
| parent | fdceb8b0620c347c9f7f477dbf295dcfff12012c (diff) | |
| parent | f428ebb04f0610c31639d8fe6d121f632c1cad1b (diff) | |
| download | px4-firmware-73d6121a9dbcd438f407edcd9b58bbb31bd94a42.tar.gz px4-firmware-73d6121a9dbcd438f407edcd9b58bbb31bd94a42.tar.bz2 px4-firmware-73d6121a9dbcd438f407edcd9b58bbb31bd94a42.zip | |
Merge branch 'master' into offboard2_merge
Conflicts:
src/modules/uORB/topics/rc_channels.h
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 6541788f6..4e88e260c 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -470,7 +470,7 @@ 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 */ @@ -552,7 +552,6 @@ 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(); @@ -950,7 +949,7 @@ 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(); |