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vtol_att_control astyle

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This commit is contained in:
Daniel Agar
2016-05-19 21:49:34 +02:00
committed by Lorenz Meier
parent 3d1713f79e
commit f58596bbcd
6 changed files with 17 additions and 13 deletions
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src/modules/vtol_att_control/tailsitter.cpp
+2 -2
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@@ -250,9 +250,9 @@ void Tailsitter::update_transition_state()
/** create time dependant throttle signal higher than in MC and growing untill P2 switch speed reached */
if (_airspeed->indicated_airspeed_m_s <= _params_tailsitter.airspeed_trans) {
_thrust_transition = _thrust_transition_start + (fabsf(THROTTLE_TRANSITION_MAX * _thrust_transition_start) *
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
(float)hrt_elapsed_time(&_vtol_schedule.transition_start) / (_params_tailsitter.front_trans_dur * 1000000.0f));
_thrust_transition = math::constrain(_thrust_transition , _thrust_transition_start ,
(1.0f + THROTTLE_TRANSITION_MAX) * _thrust_transition_start);
(1.0f + THROTTLE_TRANSITION_MAX) * _thrust_transition_start);
_v_att_sp->thrust = _thrust_transition;
}