Mirrors_Framework/PX4-Autopilot
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Omni Pos-Ctrl: Fixed a compilation issue for pixracer)

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This commit is contained in:
Azarakhsh Keipour
2020-07-28 19:38:56 -04:00
parent 1ccd452de6
commit 2d101c5998
1 changed files with 2 additions and 2 deletions
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src/modules/mc_pos_control/PositionControl/ControlMath.cpp
+2 -2
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@@ -447,8 +447,8 @@ void thrustToSlowAttitude(const matrix::Vector3f &thr_sp, const float yaw_sp, co
float err_tilt_dir = wrap_pi(des_tilt_dir - curr_tilt_dir);
// Calculate the changes to tilt angle and direction
float d_tilt_angle = math::min(tilt_angle_rate, err_tilt_angle);
float d_tilt_dir = math::sign(err_tilt_dir) * math::min(tilt_dir_rate, std::abs(err_tilt_dir));
float d_tilt_angle = fminf(tilt_angle_rate, err_tilt_angle);
float d_tilt_dir = math::sign(err_tilt_dir) * fminf(tilt_dir_rate, std::abs(err_tilt_dir));
// Calculate the commanded tilt angle and direction
float cmd_tilt_angle = curr_tilt_angle + d_tilt_angle;