fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 10:11:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

TranslationControl: index fix

Browse Source
This commit is contained in:
Dennis Mannhart
2018-04-05 07:30:12 +02:00
committed by Beat Küng
parent 840247251d
commit adcb2b9ca8
1 changed files with 3 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/TranslationControl.cpp
+3 -1
View File
@@ -141,6 +141,7 @@ void TranslationControl::_interfaceMapping()
} else if (!PX4_ISFINITE(_yaw_sp)) { } else if (!PX4_ISFINITE(_yaw_sp)) {
_yaw_sp = _yaw_sp_int; _yaw_sp = _yaw_sp_int;
} }
} }
/* generate desired velocity */ /* generate desired velocity */
@@ -226,9 +227,10 @@ void TranslationControl::_velocityController(const float &dt)
} }
if (!stop_I[1]) { 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) void TranslationControl::_yawController(const float &dt)