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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-02 13:23:28 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-02 13:23:28 +0200 |
| commit | e77dfc39c28d6ebb3609ea3e6c89feb90f39b016 (patch) | |
| tree | 746143e5728984daf043a4bc23f58e94707f0f33 /src/modules | |
| parent | 8e63dd57282bb76716fefbdd7c788cbf7797d1cc (diff) | |
| download | px4-firmware-e77dfc39c28d6ebb3609ea3e6c89feb90f39b016.tar.gz px4-firmware-e77dfc39c28d6ebb3609ea3e6c89feb90f39b016.tar.bz2 px4-firmware-e77dfc39c28d6ebb3609ea3e6c89feb90f39b016.zip | |
Fixed compile error on vector
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp index b72edfefa..16e60f3e0 100644 --- a/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp +++ b/src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp @@ -83,7 +83,7 @@ void ECL_FWAttControlVector::control(float dt, float airspeed, float airspeed_sc // Establish actuator signs and lift compensation float lift_sign = (R_bn(3, 3) >= 0) ? 1.0f : -1.0f; - float lift_comp = CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min) * (R_nb(2,3) * R_nb(2,3)) / (R_nb(3,3) * sqrtf((R_nb(2,3) * R_nb(2,3)) + (R_nb(3,3) * R_nb(3,3))); + float lift_comp = CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min) * (R_nb(2,3) * R_nb(2,3)) / (R_nb(3,3) * sqrtf((R_nb(2,3) * R_nb(2,3)) + (R_nb(3,3) * R_nb(3,3))))); //float lift_comp = fabsf((CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min)) * tanf(roll) * sinf(roll))) * _p_roll_ffd; float cy = cosf(yaw); |