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rover steering example: fixed compile error

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2016-10-18 20:46:08 +02:00
committed by Lorenz Meier
parent 7cb06c01eb
commit d086a348aa
1 changed files with 1 additions and 1 deletions
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src/examples/rover_steering_control/main.cpp
+1 -1
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@@ -179,7 +179,7 @@ void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const st
/* /*
* Calculate yaw error and apply P gain * Calculate yaw error and apply P gain
*/ */
float yaw_err = Eulerf(Quaternion(att->q)).psi() - Eulerf(Quaternion(att->q_d)).psi(); float yaw_err = matrix::Eulerf(matrix::Quatf(att->q)).psi() - matrix::Eulerf(matrix::Quatf(att_sp->q_d)).psi();
actuators->control[2] = yaw_err * pp.yaw_p; actuators->control[2] = yaw_err * pp.yaw_p;
/* copy throttle */ /* copy throttle */