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Fixed signs

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Lorenz Meier
2013-07-13 20:44:17 +02:00
parent 6b779275bc
commit 6901402853
1 changed files with 1 additions and 1 deletions
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src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp
+1 -1
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@@ -78,7 +78,7 @@ void ECL_FWAttControlVector::control(float dt, float airspeed, float airspeed_sc
}
math::Dcm R_bn(R_nb.transpose());
math::Matrix R_yaw_bn = math::Dcm(math::EulerAngles(0.0f, 0.0f, -yaw));
math::Matrix R_yaw_bn = math::Dcm(math::EulerAngles(0.0f, 0.0f, yaw)).transpose();
// Establish actuator signs and lift compensation
float lift_sign = (R_bn(3, 3) >= 0) ? 1.0f : -1.0f;