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vtol_att_control: switch from division to multiplication for variable

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calculation

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-03-07 14:01:51 +01:00
committed by Roman Bapst
parent 9e16543dbe
commit 1d8f588d37
3 changed files with 5 additions and 5 deletions
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src/modules/vtol_att_control/standard.cpp
+2 -2
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@@ -119,7 +119,7 @@ void Standard::update_vtol_state()
*/
float mc_weight = _mc_roll_weight;
float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
if (!_attc->is_fixed_wing_requested()) {
@@ -232,7 +232,7 @@ void Standard::update_vtol_state()
void Standard::update_transition_state()
{
float mc_weight = 1.0f;
float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
VtolType::update_transition_state();
src/modules/vtol_att_control/tailsitter.cpp
+1 -1
View File
@@ -175,7 +175,7 @@ void Tailsitter::update_vtol_state()
void Tailsitter::update_transition_state()
{
float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
if (!_flag_was_in_trans_mode) {
// save desired heading for transition and last thrust value
src/modules/vtol_att_control/tiltrotor.cpp
+2 -2
View File
@@ -179,7 +179,7 @@ void Tiltrotor::update_vtol_state()
// allow switch if we are not armed for the sake of bench testing
bool transition_to_p2 = can_transition_on_ground();
float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
// check if we have reached airspeed to switch to fw mode
transition_to_p2 |= !_params->airspeed_disabled &&
@@ -279,7 +279,7 @@ void Tiltrotor::update_transition_state()
{
VtolType::update_transition_state();
float time_since_trans_start = ((float)(hrt_absolute_time() - _vtol_schedule.transition_start)) / 1e6f;
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
if (!_flag_was_in_trans_mode) {
// save desired heading for transition and last thrust value