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PositionControl: bug fix Pv replacement with Pp

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This commit is contained in:
Dennis Mannhart
2018-07-20 09:26:18 +02:00
committed by Lorenz Meier
parent 83f6398e93
commit 4761f0a344
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/PositionControl.cpp
+1 -1
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@@ -178,7 +178,7 @@ void PositionControl::_interfaceMapping()
void PositionControl::_positionController()
{
// P-position controller
Vector3f vel_sp_position = (_pos_sp - _pos).emult(_Pv);
Vector3f vel_sp_position = (_pos_sp - _pos).emult(_Pp);
_vel_sp = vel_sp_position + _vel_sp;
// Constrain horizontal velocity by prioritizing the velocity component along the