Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-21 21:52:23 +08:00
Code Issues Actions 3 Packages Projects Releases Wiki Activity

ControlMath: math optimization

Browse Source
This commit is contained in:
Dennis Mannhart
2018-08-15 15:11:47 +02:00
committed by Dennis Mannhart
parent d94778dd94
commit a9d83b77de
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/mc_pos_control/Utility/ControlMath.cpp
+1 -1
View File
@@ -166,7 +166,7 @@ matrix::Vector2f constrainXY(const matrix::Vector2f &v0, const matrix::Vector2f
matrix::Vector2f u1 = v1.normalized();
float m = u1.dot(v0);
float c = v0.length() * v0.length() - max * max;
float c = v0.dot(v0) - max * max;
float s = -m + sqrtf(m * m - c);
return v0 + u1 * s;
}