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mc_pos_control: correct sign of acceleration state

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Non-functional change, just change the sign in the correct place to
avoid further confusion.
This commit is contained in:
Matthias Grob
2020-04-09 10:04:52 +02:00
committed by Mathieu Bresciani
parent 74e99faedf
commit 38093e4887
2 changed files with 3 additions and 3 deletions
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src/modules/mc_pos_control/PositionControl/PositionControl.cpp
+1 -1
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@@ -145,7 +145,7 @@ void PositionControl::_velocityControl(const float dt)
{
// PID velocity control
Vector3f vel_error = _vel_sp - _vel;
Vector3f acc_sp_velocity = vel_error.emult(_gain_vel_p) + _vel_int + _vel_dot.emult(_gain_vel_d);
Vector3f acc_sp_velocity = vel_error.emult(_gain_vel_p) + _vel_int - _vel_dot.emult(_gain_vel_d);
// For backwards compatibility of the gains to non-acceleration based control, needs to be overcome with configuration conversion
acc_sp_velocity *= CONSTANTS_ONE_G / _hover_thrust;