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Flying Quadshot with INDI and adaptive gains

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And removed trailing whitespace
This commit is contained in:
Ewoud Smeur
2017-10-19 13:21:12 +02:00
parent d56e0978b3
commit 93a9608c3b
2 changed files with 17 additions and 14 deletions
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sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi_simple.c
+1 -1
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@@ -351,7 +351,7 @@ static inline void stabilization_indi_calc_cmd(int32_t indi_commands[], struct I
Bound(indi.u_in.q, -9600, 9600);
float rlim = 9600 - fabs(indi.u_in.q);
Bound(indi.u_in.r, -rlim, rlim);
Bound(indi.u_in.r, -9600, 9600);
Bound(indi.u_in.r, -9600, 9600);
#else
Bound(indi.u_in.p, -4500, 4500);
Bound(indi.u_in.q, -4500, 4500);