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fixed code style in standard.cpp

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This commit is contained in:
Andreas Antener
2016-06-07 14:05:19 +02:00
committed by Lorenz Meier
parent ac9a81c0c7
commit 9ec9210a08
1 changed files with 2 additions and 1 deletions
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src/modules/vtol_att_control/standard.cpp
+2 -1
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@@ -312,10 +312,11 @@ void Standard::update_mc_state()
matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -euler(2)); matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -euler(2));
body_z_sp = R_yaw * body_z_sp; body_z_sp = R_yaw * body_z_sp;
body_z_sp.normalize(); body_z_sp.normalize();
// calculate the desired pitch seen in the heading frame // calculate the desired pitch seen in the heading frame
// this value corresponds to the amount the vehicle would try to pitch forward // this value corresponds to the amount the vehicle would try to pitch forward
float pitch_forward = asinf(body_z_sp(0)); float pitch_forward = asinf(body_z_sp(0));
// only allow pitching forward up to threshold, the rest of the desired // only allow pitching forward up to threshold, the rest of the desired
// forward acceleration will be compensated by the pusher // forward acceleration will be compensated by the pusher
if (pitch_forward < -_params_standard.down_pitch_max) { if (pitch_forward < -_params_standard.down_pitch_max) {