From e77dfc39c28d6ebb3609ea3e6c89feb90f39b016 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 2 Aug 2013 13:23:28 +0200 Subject: Fixed compile error on vector --- src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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); -- cgit v1.2.3