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Typo in AHRS Limiter

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This commit is contained in:
Christophe De Wagter
2011-08-01 13:14:25 +02:00
parent cae05e43af
commit 69bcede01b
1 changed files with 2 additions and 2 deletions
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sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
+2 -2
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@@ -462,8 +462,8 @@ void Drift_correction(void)
// Here we will place a limit on the integrator so that the integrator cannot ever exceed half the saturation limit of the gyros
Integrator_magnitude = sqrt(Vector_Dot_Product(Omega_I,Omega_I));
if (Integrator_magnitude > DegOfRad(300)) {
Vector_Scale(Omega_I,Omega_I,0.5f*DegOfRad(300)/Integrator_magnitude);
if (Integrator_magnitude > RadOfDeg(300)) {
Vector_Scale(Omega_I,Omega_I,0.5f*RadOfDeg(300)/Integrator_magnitude);
}