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mc_pos_control: max position setpoint offset limiting fixed

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Anton Babushkin
2014-02-01 00:07:50 +01:00
parent d933d523eb
commit 0be7bd3166
1 changed files with 1 additions and 1 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+1 -1
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@@ -645,7 +645,7 @@ MulticopterPositionControl::task_main()
if (pos_sp_offs_norm > 1.0f) {
pos_sp_offs /= pos_sp_offs_norm;
add_vector_to_global_position(_lat_sp, _lon_sp, pos_sp_offs(0) * _params.sp_offs_max(0), pos_sp_offs(1) * _params.sp_offs_max(1), &_lat_sp, &_lon_sp);
add_vector_to_global_position(_global_pos.lat, _global_pos.lon, pos_sp_offs(0) * _params.sp_offs_max(0), pos_sp_offs(1) * _params.sp_offs_max(1), &_lat_sp, &_lon_sp);
_alt_sp = alt - pos_sp_offs(2) * _params.sp_offs_max(2);
}