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Plane: fixed a sign error in the angle assist code

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thanks to Leonard for finding this!
This commit is contained in:
Andrew Tridgell 2017-04-18 21:26:13 +10:00
parent 41d999994a
commit d5ec7b0aad
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/quadplane.cpp
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@ -1101,7 +1101,7 @@ bool QuadPlane::assistance_needed(float aspeed)
const uint16_t allowed_envelope_error_cd = 500U;
if (labs(ahrs.roll_sensor) <= plane.aparm.roll_limit_cd+allowed_envelope_error_cd &&
ahrs.pitch_sensor < plane.aparm.pitch_limit_max_cd+allowed_envelope_error_cd &&
ahrs.pitch_sensor > -(plane.aparm.pitch_limit_min_cd+allowed_envelope_error_cd)) {
ahrs.pitch_sensor > -(allowed_envelope_error_cd-plane.aparm.pitch_limit_min_cd)) {
// we are inside allowed attitude envelope
in_angle_assist = false;
angle_error_start_ms = 0;