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TranslationControl: adjust direction based on constrainPIDu inputs

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Dennis Mannhart
2017-12-20 17:30:15 +01:00
committed by Beat Küng
parent 75b6af77de
commit 6daf78494a
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/TranslationControl.cpp
+1 -1
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@@ -212,7 +212,7 @@ void TranslationControl::_velocityController(const float &dt)
* if (r-y) is greater or smaller than 0
*/
float dot_xy = matrix::Vector2f(&vel_err(0)) * matrix::Vector2f(&_vel_sp(0));
float direction[2] = {dot_xy, vel_err(2)};
float direction[2] = {dot_xy, -vel_err(2)}; // negative sign because of N-E-D
bool saturate[2] = {false, false};
PosControl::constrainPIDu(_thr_sp, saturate, _ThrLimit, direction);