From 3696e7722a366dcd56102295323f9af988eb2749 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 18 Oct 2016 09:50:56 +0200 Subject: [PATCH] Code style adjustments --- src/modules/mc_pos_control/mc_pos_control_main.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp index 29c420edb9..1d2fd6fae4 100644 --- a/src/modules/mc_pos_control/mc_pos_control_main.cpp +++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp @@ -1655,11 +1655,11 @@ MulticopterPositionControl::task_main() // choose velocity xyz setpoint such that the resulting thrust setpoint has the direction // given by the last attitude setpoint _vel_sp(0) = _vel(0) + (-Rb(0, - 2) * _att_sp.thrust - thrust_int(0) - _vel_err_d(0) * _params.vel_d(0)) / _params.vel_p(0); + 2) * _att_sp.thrust - thrust_int(0) - _vel_err_d(0) * _params.vel_d(0)) / _params.vel_p(0); _vel_sp(1) = _vel(1) + (-Rb(1, - 2) * _att_sp.thrust - thrust_int(1) - _vel_err_d(1) * _params.vel_d(1)) / _params.vel_p(1); + 2) * _att_sp.thrust - thrust_int(1) - _vel_err_d(1) * _params.vel_d(1)) / _params.vel_p(1); _vel_sp(2) = _vel(2) + (-Rb(2, - 2) * _att_sp.thrust - thrust_int(2) - _vel_err_d(2) * _params.vel_d(2)) / _params.vel_p(2); + 2) * _att_sp.thrust - thrust_int(2) - _vel_err_d(2) * _params.vel_d(2)) / _params.vel_p(2); _vel_sp_prev(0) = _vel_sp(0); _vel_sp_prev(1) = _vel_sp(1); _vel_sp_prev(2) = _vel_sp(2);