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TranslationControl: rename variable

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This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 2a544cee43
commit 3b8c718971
3 changed files with 12 additions and 12 deletions
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src/modules/mc_pos_control/TranslationControl.cpp
+4 -4
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@@ -213,19 +213,19 @@ void TranslationControl::_velocityController(const float &dt)
*/
float dot_xy = matrix::Vector2f(&vel_err(0)) * matrix::Vector2f(&_vel_sp(0));
float direction[2] = {dot_xy, -vel_err(2)}; // negative sign because of N-E-D
bool saturate[2] = {false, false};
PosControl::constrainPIDu(_thr_sp, saturate, _ThrLimit, direction);
bool stop_I[2] = {false, false}; // stop integration for xy and z
PosControl::constrainPIDu(_thr_sp, stop_I, _ThrLimit, direction);
/* throttle is just thrust length */
_throttle = _thr_sp.length();
/* update integrals */
if (!saturate[0]) {
if (!stop_I[0]) {
_thr_int(0) += vel_err(0) * Iv(0) * dt;
_thr_int(1) += vel_err(1) * Iv(1) * dt;
}
if (!saturate[1]) {
if (!stop_I[1]) {
_thr_int(2) += vel_err(3) * Iv(2) * dt;
}