From adcb2b9ca8d24c52cbc6efaae55731ac6c349ee1 Mon Sep 17 00:00:00 2001 From: Dennis Mannhart Date: Fri, 22 Dec 2017 09:37:30 +0100 Subject: [PATCH] TranslationControl: index fix --- src/modules/mc_pos_control/TranslationControl.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/TranslationControl.cpp b/src/modules/mc_pos_control/TranslationControl.cpp index f0b990764c..8300ce1eb8 100644 --- a/src/modules/mc_pos_control/TranslationControl.cpp +++ b/src/modules/mc_pos_control/TranslationControl.cpp @@ -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)