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fw att fix pitch feedforward constrained roll

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Daniel Agar
2016-11-27 12:34:12 +01:00
committed by Lorenz Meier
parent a776b2c549
commit 983c44088f
1 changed files with 1 additions and 1 deletions
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attitude_fw/ecl_pitch_controller.cpp
+1 -1
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@@ -127,7 +127,7 @@ float ECL_PitchController::control_bodyrate(const struct ECL_ControlData &ctl_da
/* 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 */
constrained_roll = math::constrain(ctl_data.roll, -ctl_data.roll_setpoint, ctl_data.roll_setpoint);
constrained_roll = math::constrain(ctl_data.roll, -fabsf(ctl_data.roll_setpoint), fabsf(ctl_data.roll_setpoint));
} else {
/* inverted flight, constrain on the two extremes of -pi..+pi to avoid infinity */