From 064a6dd2fde17d64b902131cd6b37a00f6adaf7a Mon Sep 17 00:00:00 2001 From: Martina Date: Tue, 12 Jun 2018 14:59:57 +0200 Subject: [PATCH] mc_pos_control: fix rebase mistake --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 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 c697947bf7..a839a95dd6 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -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.