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mc_pos_control: fix rebase mistake

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Martina 2018-06-12 14:59:57 +02:00 committed by Daniel Agar
parent d6ea735b18
commit 064a6dd2fd
1 changed files with 2 additions and 2 deletions
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4
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@ -2323,8 +2323,8 @@ MulticopterPositionControl::wrap_yaw_speed(float yaw_speed)
const float yaw_rate_max = (_man_yaw_max < _global_yaw_max) ? _man_yaw_max : _global_yaw_max;
const float yaw_offset_max = yaw_rate_max / _mc_att_yaw_p.get();
float yaw_target = _wrap_pi(_att_sp.yaw_body + yaw_speed * _dt);
float yaw_offs = _wrap_pi(yaw_target - _yaw);
float yaw_target = wrap_pi(_att_sp.yaw_body + yaw_speed * _dt);
float yaw_offs = wrap_pi(yaw_target - _yaw);
// If the yaw offset became too big for the system to track stop
// shifting it, only allow if it would make the offset smaller again.