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[INDI] small compile error fix

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Ewoud Smeur
2017-02-12 16:19:05 +01:00
parent 98ba658b64
commit 184cdc9b7d
1 changed files with 1 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.c
+1 -1
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@@ -309,13 +309,13 @@ void stabilization_indi_set_earth_cmd_i(struct Int32Vect2 *cmd, int32_t heading)
static void stabilization_indi_calc_cmd(struct Int32Quat *att_err, bool rate_control, bool in_flight)
{
struct FloatRates rate_ref;
if(rate_control) {//Check if we are running the rate controller
rate_ref.p = (float)radio_control.values[RADIO_ROLL] / MAX_PPRZ * STABILIZATION_INDI_MAX_RATE;
rate_ref.q = (float)radio_control.values[RADIO_PITCH] / MAX_PPRZ * STABILIZATION_INDI_MAX_RATE;
rate_ref.r = (float)radio_control.values[RADIO_YAW] / MAX_PPRZ * STABILIZATION_INDI_MAX_RATE;
} else {
//calculate the virtual control (reference acceleration) based on a PD controller
struct FloatRates rate_ref;
rate_ref.p = reference_acceleration.err_p * QUAT1_FLOAT_OF_BFP(att_err->qx)
/reference_acceleration.rate_p;
rate_ref.q = reference_acceleration.err_q * QUAT1_FLOAT_OF_BFP(att_err->qy)