From 42c61271ea73be29a21110980764d1a68f8ee530 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 20 Oct 2012 19:53:49 +0200 Subject: [PATCH] remove bogus dt from att rate --- apps/multirotor_att_control/multirotor_attitude_control.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/multirotor_att_control/multirotor_attitude_control.c b/apps/multirotor_att_control/multirotor_attitude_control.c index c3da85c5c5..a08ee5e46c 100644 --- a/apps/multirotor_att_control/multirotor_attitude_control.c +++ b/apps/multirotor_att_control/multirotor_attitude_control.c @@ -249,7 +249,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s att->roll, att->rollspeed, deltaT); /* control yaw rate */ - rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body)); + rates_sp->yaw = p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body));