yaw controller: fix bug where roll for turn coordination was constrained

wrongly Signed-off-by: Roman <bapstroman@gmail.com>
8 years ago · c4cc02b3f2
1 changed files with 1 additions and 1 deletions
--- a/attitude_fw/ecl_yaw_controller.cpp
+++ b/attitude_fw/ecl_yaw_controller.cpp
@ -110,7 +110,7 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
				@@ -110,7 +110,7 @@ float ECL_YawController::control_attitude_impl_openloop(const struct ECL_Control
 		}
 	}

-	constrained_roll = math::constrain(constrained_roll, -ctl_data.roll_setpoint, ctl_data.roll_setpoint);
+	constrained_roll = math::constrain(constrained_roll, -fabsf(ctl_data.roll_setpoint), fabsf(ctl_data.roll_setpoint));


 	if (!inverted) {