fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 16:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

mc_att_control: clarify corner case comment

Browse Source
This commit is contained in:
Matthias Grob
2018-03-15 17:16:14 +01:00
parent 9f69447e22
commit 42f4e62a04
1 changed files with 3 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_att_control/mc_att_control_main.cpp
+3 -3
View File
@@ -845,9 +845,9 @@ MulticopterAttitudeControl::control_attitude(float dt)
Quatf qd_red(e_z, e_z_d);
if (abs(qd_red(1)) > (1.f - 1e-5f) || abs(qd_red(2)) > (1.f - 1e-5f)) {
/* In the numerical corner case where the vehicle and thrust have the completely opposite direction
* and we have no yaw input with full attitude control anyways directly take the combination of
* roll and pitch leading to the correct desired yaw. Ignoring this case would be totally safe and stable. */
/* In the infinitesimal corner case where the vehicle and thrust have the completely opposite direction,
* full attitude control anyways generates no yaw input and directly takes the combination of
* roll and pitch leading to the correct desired yaw. Ignoring this case would still be totally safe and stable. */
qd_red = qd;
} else {