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AC_AttitudeControl: Shorten survival time of automatic variables

This commit is contained in:
murata 2022-05-15 09:52:44 +09:00 committed by Randy Mackay
parent cebb57266d
commit 59dcf18558
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
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@ -555,9 +555,9 @@ void AC_AttitudeControl::input_thrust_vector_rate_heading(const Vector3f& thrust
{
// Convert from centidegrees on public interface to radians
float heading_rate = radians(heading_rate_cds * 0.01f);
// a zero _angle_vel_yaw_max means that setting is disabled
const float slew_yaw_max_rads = get_slew_yaw_max_rads();
if (slew_yaw) {
// a zero _angle_vel_yaw_max means that setting is disabled
const float slew_yaw_max_rads = get_slew_yaw_max_rads();
heading_rate = constrain_float(heading_rate, -slew_yaw_max_rads, slew_yaw_max_rads);
}