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TranslationControl: index fix

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Dennis Mannhart 2017-12-22 09:37:30 +01:00 committed by Beat Küng
parent 840247251d
commit adcb2b9ca8
1 changed files with 3 additions and 1 deletions
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4
src/modules/mc_pos_control/TranslationControl.cpp
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@ -141,6 +141,7 @@ void TranslationControl::_interfaceMapping()
} else if (!PX4_ISFINITE(_yaw_sp)) {
_yaw_sp = _yaw_sp_int;
}
}
/* generate desired velocity */
@ -226,9 +227,10 @@ void TranslationControl::_velocityController(const float &dt)
}
if (!stop_I[1]) {
_thr_int(2) += vel_err(3) * Iv(2) * dt;
_thr_int(2) += vel_err(2) * Iv(2) * dt;
}
}
void TranslationControl::_yawController(const float &dt)