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Fixed compile error on vector

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Lorenz Meier 2013-08-02 13:23:28 +02:00
parent 8e63dd5728
commit e77dfc39c2
1 changed files with 1 additions and 1 deletions
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src/modules/fw_att_control_vector/ecl_fw_att_control_vector.cpp
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@ -83,7 +83,7 @@ void ECL_FWAttControlVector::control(float dt, float airspeed, float airspeed_sc
// Establish actuator signs and lift compensation
float lift_sign = (R_bn(3, 3) >= 0) ? 1.0f : -1.0f;
float lift_comp = CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min) * (R_nb(2,3) * R_nb(2,3)) / (R_nb(3,3) * sqrtf((R_nb(2,3) * R_nb(2,3)) + (R_nb(3,3) * R_nb(3,3)));
float lift_comp = CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min) * (R_nb(2,3) * R_nb(2,3)) / (R_nb(3,3) * sqrtf((R_nb(2,3) * R_nb(2,3)) + (R_nb(3,3) * R_nb(3,3)))));
//float lift_comp = fabsf((CONSTANTS_ONE_G / math::max(airspeed , float(_p_airspeed_min)) * tanf(roll) * sinf(roll))) * _p_roll_ffd;
float cy = cosf(yaw);