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changed the sign of the ground speed error signal (now setpoint - estimate) for better readability and consistency

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This commit is contained in:
Felix Ruess
2011-11-30 00:41:33 +01:00
parent 6aeb2f1dde
commit 16f20347bc
1 changed files with 2 additions and 2 deletions
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sw/airborne/subsystems/nav.c
+2 -2
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@@ -208,8 +208,8 @@ static inline void nav_follow(uint8_t _ac_id, float _distance, float _height);
static void nav_ground_speed_loop( void ) {
if (MINIMUM_AIRSPEED < nav_ground_speed_setpoint
&& nav_ground_speed_setpoint < MAXIMUM_AIRSPEED) {
float err = estimator_hspeed_mod - nav_ground_speed_setpoint;
v_ctl_auto_throttle_cruise_throttle -= nav_ground_speed_pgain*err;
float err = nav_ground_speed_setpoint - estimator_hspeed_mod;
v_ctl_auto_throttle_cruise_throttle += nav_ground_speed_pgain*err;
Bound(v_ctl_auto_throttle_cruise_throttle, V_CTL_AUTO_THROTTLE_MIN_CRUISE_THROTTLE, V_CTL_AUTO_THROTTLE_MAX_CRUISE_THROTTLE);
} else {
/* Reset cruise throttle to nominal value */