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attitude_fw fix style

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This commit is contained in:
Daniel Agar
2017-02-12 11:40:14 +01:00
committed by Lorenz Meier
parent f22ad30ef3
commit 674ab3f81b
3 changed files with 25 additions and 21 deletions
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attitude_fw/ecl_yaw_controller.cpp
+7 -3
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@@ -91,6 +91,7 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
float constrained_roll;
bool inverted = false;
/* roll is used as feedforward term and inverted flight needs to be considered */
if (fabsf(ctl_data.roll) < math::radians(90.0f)) {
/* not inverted, but numerically still potentially close to infinity */
@@ -98,8 +99,9 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
} else {
inverted = true;
// inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity
//note: the ranges are extended by 10 deg here to avoid numeric resolution effects
// inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity
//note: the ranges are extended by 10 deg here to avoid numeric resolution effects
if (ctl_data.roll > 0.0f) {
/* right hemisphere */
constrained_roll = math::constrain(ctl_data.roll, math::radians(100.0f), math::radians(180.0f));
@@ -115,10 +117,12 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
if (!inverted) {
/* Calculate desired yaw rate from coordinated turn constraint / (no side forces) */
_rate_setpoint = tanf(constrained_roll) * cosf(ctl_data.pitch) * 9.81f / (ctl_data.airspeed < ctl_data.airspeed_min ? ctl_data.airspeed_min : ctl_data.airspeed);
_rate_setpoint = tanf(constrained_roll) * cosf(ctl_data.pitch) * 9.81f / (ctl_data.airspeed < ctl_data.airspeed_min ?
ctl_data.airspeed_min : ctl_data.airspeed);
}
/* limit the rate */ //XXX: move to body angluar rates
if (_max_rate > 0.01f) {
_rate_setpoint = (_rate_setpoint > _max_rate) ? _max_rate : _rate_setpoint;
_rate_setpoint = (_rate_setpoint < -_max_rate) ? -_max_rate : _rate_setpoint;