fly316/PX4-Autopilot
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Merge branch 'fw_jacobians_and_yaw' into fw_staging

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This commit is contained in:
Thomas Gubler 2013-10-24 18:14:34 +02:00
commit 19ae09dbad
1 changed files with 3 additions and 3 deletions
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6
src/modules/fw_att_control/fw_att_control_main.cpp
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@ -673,9 +673,9 @@ FixedwingAttitudeControl::task_main()
float speed_body_u = 0.0f;
float speed_body_w = 0.0f;
if(_att.R_valid) {
speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[0][1] * _global_pos.vy + _att.R[0][2] * _global_pos.vz;
// speed_body_v = _att.R[1][0] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[1][2] * _global_pos.vz;
speed_body_w = _att.R[2][0] * _global_pos.vx + _att.R[2][1] * _global_pos.vy + _att.R[2][2] * _global_pos.vz;
speed_body_u = _att.R[0][0] * _global_pos.vx + _att.R[1][0] * _global_pos.vy + _att.R[2][0] * _global_pos.vz;
// speed_body_v = _att.R[0][1] * _global_pos.vx + _att.R[1][1] * _global_pos.vy + _att.R[2][1] * _global_pos.vz;
speed_body_w = _att.R[0][2] * _global_pos.vx + _att.R[1][2] * _global_pos.vy + _att.R[2][2] * _global_pos.vz;
} else {
warnx("Did not get a valid R\n");
}