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Sub: Organize descend climb_rate calc

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Make it more clear to read

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>
This commit is contained in:
Patrick José Pereira 2018-04-13 18:34:59 -03:00 committed by Jacob Walser
parent 3ca520021b
commit a856f747aa
1 changed files with 1 additions and 1 deletions
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2
ArduSub/GCS_Mavlink.cpp
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@ -1021,7 +1021,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
climb_rate_cms = (packet.thrust - 0.5f) * 2.0f * sub.wp_nav.get_speed_up();
} else {
// descend at up to WPNAV_SPEED_DN
climb_rate_cms = (0.5f - packet.thrust) * 2.0f * -fabsf(sub.wp_nav.get_speed_down());
climb_rate_cms = (packet.thrust - 0.5f) * 2.0f * fabsf(sub.wp_nav.get_speed_down());
}
sub.guided_set_angle(Quaternion(packet.q[0],packet.q[1],packet.q[2],packet.q[3]), climb_rate_cms);
break;