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PositionControl: calculate velocity PID once using Vector3f

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Matthias Grob
2019-12-14 21:26:54 +01:00
committed by Kabir Mohammed
parent 5bd8da2286
commit 62fb06bd58
2 changed files with 20 additions and 23 deletions
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src/modules/mc_pos_control/PositionControl/PositionControlTest.cpp
+2 -1
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@@ -198,7 +198,8 @@ TEST_F(PositionControlBasicTest, ThrustLimit)
TEST_F(PositionControlBasicTest, FailsafeInput)
{
_input_setpoint.vz = .7f;
_input_setpoint.vz = .1f;
_input_setpoint.thrust[0] = _input_setpoint.thrust[1] = 0.f;
_input_setpoint.acceleration[0] = _input_setpoint.acceleration[1] = 0.f;
runController();