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PositionControl: thrust setpoint check with fabsf

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Dennis Mannhart 2018-03-15 10:23:59 +01:00 committed by Beat Küng
parent 26ffda5079
commit 48fa3fbca3
1 changed files with 2 additions and 2 deletions
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4
src/modules/mc_pos_control/PositionControl.cpp
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@ -243,10 +243,10 @@ void PositionControl::_velocityController(const float &dt)
}
/* Satureate thrust setpoint in D-direction */
/* Saturate thrust setpoint in D-direction */
_thr_sp(2) = math::constrain(thrust_desired_D, uMin, uMax);
if (_thr_sp(0) + _thr_sp(1) > FLT_EPSILON) {
if (fabsf(_thr_sp(0)) + fabsf(_thr_sp(1)) > FLT_EPSILON) {
/* Thrust setpoints in NE-direction is already provided. Only
* scaling is required.