remove bogus dt from att rate

12 years ago · 42c61271ea
1 changed files with 1 additions and 1 deletions
--- 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));