From e0ca38e794bbce7dc16b187b8fbcb321b8fe0614 Mon Sep 17 00:00:00 2001 From: Roman Date: Fri, 2 Mar 2018 15:06:01 +0100 Subject: [PATCH] standard vtol: fix mc weight calculation Signed-off-by: Roman --- src/modules/vtol_att_control/standard.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/vtol_att_control/standard.cpp b/src/modules/vtol_att_control/standard.cpp index e53adec1de..c489764a67 100644 --- a/src/modules/vtol_att_control/standard.cpp +++ b/src/modules/vtol_att_control/standard.cpp @@ -258,7 +258,7 @@ void Standard::update_transition_state() // time based blending when no airspeed sensor is set } else if (_params->airspeed_disabled) { - mc_weight = 1.0f - (time_since_trans_start - _params->front_trans_time_min) / _params->front_trans_time_min; + mc_weight = 1.0f - time_since_trans_start / _params->front_trans_time_min; mc_weight = math::constrain(2.0f * mc_weight, 0.0f, 1.0f); }