From 2d101c599806421ac1bc28ada399ae31252b7d03 Mon Sep 17 00:00:00 2001 From: Azarakhsh Keipour Date: Tue, 28 Jul 2020 19:38:56 -0400 Subject: [PATCH] Omni Pos-Ctrl: Fixed a compilation issue for pixracer) --- src/modules/mc_pos_control/PositionControl/ControlMath.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/mc_pos_control/PositionControl/ControlMath.cpp b/src/modules/mc_pos_control/PositionControl/ControlMath.cpp index 6fce1cfa3c..0fbc133858 100644 --- a/src/modules/mc_pos_control/PositionControl/ControlMath.cpp +++ b/src/modules/mc_pos_control/PositionControl/ControlMath.cpp @@ -447,8 +447,8 @@ void thrustToSlowAttitude(const matrix::Vector3f &thr_sp, const float yaw_sp, co float err_tilt_dir = wrap_pi(des_tilt_dir - curr_tilt_dir); // Calculate the changes to tilt angle and direction - float d_tilt_angle = math::min(tilt_angle_rate, err_tilt_angle); - float d_tilt_dir = math::sign(err_tilt_dir) * math::min(tilt_dir_rate, std::abs(err_tilt_dir)); + float d_tilt_angle = fminf(tilt_angle_rate, err_tilt_angle); + float d_tilt_dir = math::sign(err_tilt_dir) * fminf(tilt_dir_rate, std::abs(err_tilt_dir)); // Calculate the commanded tilt angle and direction float cmd_tilt_angle = curr_tilt_angle + d_tilt_angle;