AC_PosControl: use AttControl's sqrt_controller

2014-10-27 14:59:08 +09:00 · 2014-10-27 14:59:08 +09:00 · ac7ea2a12c
parent 7224669399
commit ac7ea2a12c
1 changed files with 1 additions and 1 deletions
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@ -274,7 +274,7 @@ void AC_PosControl::pos_to_rate_z()
    }

    // calculate _vel_target.z using from _pos_error.z using sqrt controller
-    _vel_target.z = sqrt_controller(_pos_error.z, _p_alt_pos.kP(), _accel_z_cms);
+    _vel_target.z = AC_AttitudeControl::sqrt_controller(_pos_error.z, _p_alt_pos.kP(), _accel_z_cms);

    // call rate based throttle controller which will update accel based throttle controller targets
    rate_to_accel_z();