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AR_AttitudeControl: fix turn-rate controller timeout

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This commit is contained in:
Randy Mackay 2017-12-25 14:28:52 +09:00
parent 4e8155f4e5
commit a2b1807ca0
1 changed files with 1 additions and 1 deletions
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2
libraries/APM_Control/AR_AttitudeControl.cpp
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@ -207,7 +207,7 @@ float AR_AttitudeControl::get_steering_out_rate(float desired_rate, bool skid_st
// calculate dt
const uint32_t now = AP_HAL::millis();
float dt = (now - _steer_turn_last_ms) / 1000.0f;
if ((_steer_turn_last_ms == 0) || (dt > AR_ATTCONTROL_TIMEOUT_MS)) {
if ((_steer_turn_last_ms == 0) || (dt > (AR_ATTCONTROL_TIMEOUT_MS / 1000.0f))) {
dt = 0.0f;
_steer_rate_pid.reset_filter();
} else {