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rotorcraft vertical guidance: when INV_M is defined, use FF_CMD_FRAC instead of GV_ADAPT_X_FRAC to convert to BFP representation

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no functional change, as both are 18 right now anyway
This commit is contained in:
Felix Ruess
2012-04-10 17:06:07 +02:00
parent 6a328ff20e
commit a0d1d9a481
1 changed files with 1 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+1 -1
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@@ -265,7 +265,7 @@ __attribute__ ((always_inline)) static inline void run_hover_loop(bool_t in_flig
/* our nominal command : (g + zdd)*m */
#ifdef GUIDANCE_V_INV_M
const int32_t inv_m = BFP_OF_REAL(GUIDANCE_V_INV_M, GV_ADAPT_X_FRAC);
const int32_t inv_m = BFP_OF_REAL(GUIDANCE_V_INV_M, FF_CMD_FRAC);
#else
const int32_t inv_m = gv_adapt_X>>(GV_ADAPT_X_FRAC - FF_CMD_FRAC);
#endif