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[guidance] fix max bank in thrust coef

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Gautier Hattenberger
2015-10-16 23:22:18 +02:00
parent 72776c6474
commit acd68f6c3c
1 changed files with 2 additions and 1 deletions
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sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+2 -1
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@@ -366,7 +366,8 @@ void guidance_v_run(bool_t in_flight)
/// get the cosine of the angle between thrust vector and gravity vector /// get the cosine of the angle between thrust vector and gravity vector
static int32_t get_vertical_thrust_coeff(void) static int32_t get_vertical_thrust_coeff(void)
{ {
static const int32_t max_bank_coef = BFP_OF_REAL(RadOfDeg(30.), INT32_TRIG_FRAC); // cos(30°) = 0.8660254
static const int32_t max_bank_coef = BFP_OF_REAL(0.8660254f, INT32_TRIG_FRAC);
struct Int32RMat *att = stateGetNedToBodyRMat_i(); struct Int32RMat *att = stateGetNedToBodyRMat_i();
/* thrust vector: /* thrust vector: