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ControlMath: sign fix

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Dennis Mannhart
2017-12-22 09:37:09 +01:00
committed by Beat Küng
parent deac27ee52
commit 840247251d
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/Utility/ControlMath.cpp
+1 -1
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@@ -123,7 +123,7 @@ void constrainPIDu(matrix::Vector3f &u, bool stop_I[2], const float Ulimits[2],
stop_I[0] = true;
u(0) = 0.0f;
u(1) = 0.0f;
u(2) = Ulimits[0];
u(2) = -Ulimits[0]; //N-E-D frame
} else if (u.length() >= Ulimits[0]) {