Browse Source

fixed code style in standard.cpp

sbg
Andreas Antener 9 years ago committed by Lorenz Meier
parent
commit
9ec9210a08
  1. 3
      src/modules/vtol_att_control/standard.cpp

3
src/modules/vtol_att_control/standard.cpp

@ -312,10 +312,11 @@ void Standard::update_mc_state() @@ -312,10 +312,11 @@ void Standard::update_mc_state()
matrix::Dcmf R_yaw = matrix::Eulerf(0.0f, 0.0f, -euler(2));
body_z_sp = R_yaw * body_z_sp;
body_z_sp.normalize();
// calculate the desired pitch seen in the heading frame
// this value corresponds to the amount the vehicle would try to pitch forward
float pitch_forward = asinf(body_z_sp(0));
// only allow pitching forward up to threshold, the rest of the desired
// forward acceleration will be compensated by the pusher
if (pitch_forward < -_params_standard.down_pitch_max) {

Loading…
Cancel
Save