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mc att multi: style fixes to be consistent with old controller

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Thomas Gubler
2015-02-22 14:17:32 +01:00
parent 4d26c2164e
commit 4bc2d5f687
1 changed files with 8 additions and 10 deletions
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src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp
+1 -3
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@@ -130,9 +130,7 @@ void MulticopterAttitudeControlBase::control_attitude(float dt)
e_R_cp(2, 1) = e_R_z_axis(0); e_R_cp(2, 1) = e_R_z_axis(0);
/* rotation matrix for roll/pitch only rotation */ /* rotation matrix for roll/pitch only rotation */
R_rp = R R_rp = R * (_I + e_R_cp * e_R_z_sin + e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
* (_I + e_R_cp * e_R_z_sin
+ e_R_cp * e_R_cp * (1.0f - e_R_z_cos));
} else { } else {
/* zero roll/pitch rotation */ /* zero roll/pitch rotation */