AR_AttitudeControl: fix turn-rate controller timeout

7 years ago · a2b1807ca0
1 changed files with 1 additions and 1 deletions
--- a/libraries/APM_Control/AR_AttitudeControl.cpp
+++ b/libraries/APM_Control/AR_AttitudeControl.cpp
@ -207,7 +207,7 @@ float AR_AttitudeControl::get_steering_out_rate(float desired_rate, bool skid_st
				@@ -207,7 +207,7 @@ float AR_AttitudeControl::get_steering_out_rate(float desired_rate, bool skid_st
    // calculate dt
    const uint32_t now = AP_HAL::millis();
    float dt = (now - _steer_turn_last_ms) / 1000.0f;
-    if ((_steer_turn_last_ms == 0) || (dt > AR_ATTCONTROL_TIMEOUT_MS)) {
+    if ((_steer_turn_last_ms == 0) || (dt > (AR_ATTCONTROL_TIMEOUT_MS / 1000.0f))) {
        dt = 0.0f;
        _steer_rate_pid.reset_filter();
    } else {