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AC_AttitudeControl: Formatting fix

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Leonard Hall 2015-04-15 22:09:40 +09:30 committed by Randy Mackay
parent 2b5fb850dd
commit 48fb487a8c
1 changed files with 1 additions and 1 deletions
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2
libraries/AC_AttitudeControl/AC_PosControl.cpp
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@ -829,7 +829,7 @@ void AC_PosControl::accel_to_lean_angles(float dt, float ekfNavVelGainScaler)
float freq_cut = POSCONTROL_ACCEL_FILTER_HZ * ekfNavVelGainScaler; float freq_cut = POSCONTROL_ACCEL_FILTER_HZ * ekfNavVelGainScaler;
float alpha = constrain_float(dt/(dt + 1.0f/(2.0f*(float)M_PI*freq_cut)),0.0f,1.0f); float alpha = constrain_float(dt/(dt + 1.0f/(2.0f*(float)M_PI*freq_cut)),0.0f,1.0f);
_accel_target_filtered.x += alpha * (_accel_target_jerk_limited.x - _accel_target_filtered.x); _accel_target_filtered.x += alpha * (_accel_target_jerk_limited.x - _accel_target_filtered.x);
_accel_target_filtered.y += alpha * (_accel_target_jerk_limited.y - _accel_target_filtered.y); _accel_target_filtered.y += alpha * (_accel_target_jerk_limited.y - _accel_target_filtered.y);
// rotate accelerations into body forward-right frame // rotate accelerations into body forward-right frame
accel_forward = _accel_target_filtered.x*_ahrs.cos_yaw() + _accel_target_filtered.y*_ahrs.sin_yaw(); accel_forward = _accel_target_filtered.x*_ahrs.cos_yaw() + _accel_target_filtered.y*_ahrs.sin_yaw();