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[fixedwing] some fixes for energy control

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This commit is contained in:
Felix Ruess
2012-09-21 22:13:34 +02:00
parent 18067bdce6
commit d90be0d3b2
1 changed files with 2 additions and 2 deletions
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sw/airborne/firmwares/fixedwing/guidance/energy_ctrl.c
+2 -2
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@@ -239,7 +239,7 @@ void v_ctl_climb_loop( void )
#ifndef SITL #ifndef SITL
struct FloatVect3 accel_float = {0,0,0}; struct FloatVect3 accel_float = {0,0,0};
ACCELS_FLOAT_OF_BFP(accel_float, imu.accel); ACCELS_FLOAT_OF_BFP(accel_float, imu.accel);
float vdot = ( accel_float.x / 9.81f - sin(ahrs_float.ltp_to_imu_euler.theta) ); float vdot = ( accel_float.x / 9.81f - sinf(stateGetNedToBodyEulers_f()->theta) );
#else #else
float vdot = 0; float vdot = 0;
#endif #endif
@@ -302,7 +302,7 @@ void v_ctl_climb_loop( void )
#ifdef V_CTL_THROTTLE_SLEW_LIMITER #ifdef V_CTL_THROTTLE_SLEW_LIMITER
#define V_CTL_THROTTLE_SLEW (1./CONTROL_RATE/(V_CTL_THROTTLE_SLEW_LIMITER)) #define V_CTL_THROTTLE_SLEW (1./CONTROL_FREQUENCY/(V_CTL_THROTTLE_SLEW_LIMITER))
#endif #endif
#ifndef V_CTL_THROTTLE_SLEW #ifndef V_CTL_THROTTLE_SLEW