From 9bc044eae91a2d0f0f7d71b7a1d178663008aace Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 26 Nov 2012 17:42:08 +0100 Subject: [PATCH] More fixed wing improvements --- apps/fixedwing_pos_control/fixedwing_pos_control_main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c index 45736aa2f3..2dab705e16 100644 --- a/apps/fixedwing_pos_control/fixedwing_pos_control_main.c +++ b/apps/fixedwing_pos_control/fixedwing_pos_control_main.c @@ -334,7 +334,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[]) float psi_rate_e = psi_rate_c - att.yawspeed; - float psi_rate_e_scaled = psi_rate_e * sqrtf(pow(global_pos.vx,2) + pow(global_pos.vy,2)) / 9.81f; //* V_gr / g + float psi_rate_e_scaled = psi_rate_e * sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy) / 9.81f; //* V_gr / g attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);