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Lorenz Meier
2013-07-12 09:10:58 +02:00
parent f6b3692696
commit 9a6bf91b93
1 changed files with 1 additions and 0 deletions
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src/modules/mc_att_control_vector/ecl_mc_att_control_vector.cpp
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@@ -76,6 +76,7 @@ void ECL_MCAttControlVector::control(float dt, const math::Dcm &R_nb, float yaw,
// desired thrust in body frame
// avoid division by zero
// compensates for thrust loss due to roll/pitch
if (F_des(2) >= 0.1f) {
thrust = F_des(2) / R_bn(2, 2);
} else {