From 9ec9210a082ed5ee5faf8c3afbb793af8571e52d Mon Sep 17 00:00:00 2001 From: Andreas Antener Date: Thu, 2 Jun 2016 13:22:00 +0200 Subject: [PATCH] fixed code style in standard.cpp --- src/modules/vtol_att_control/standard.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index d3e3d57e7d..9109a82f90 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -312,10 +312,11 @@ void Standard::update_mc_state() matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -euler(2)); body_z_sp = R_yaw * body_z_sp; body_z_sp.normalize(); - + // calculate the desired pitch seen in the heading frame // this value corresponds to the amount the vehicle would try to pitch forward float pitch_forward = asinf(body_z_sp(0)); + // only allow pitching forward up to threshold, the rest of the desired // forward acceleration will be compensated by the pusher if (pitch_forward < -_params_standard.down_pitch_max) {