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mc_att_control_main: fix {x,y,z} variables (copy-paste mistake)

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Beat Küng 2017-01-25 15:08:31 +01:00 committed by Lorenz Meier
parent 75be1abc4c
commit 21070b069b
1 changed files with 6 additions and 6 deletions
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12
src/modules/mc_att_control/mc_att_control_main.cpp
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@ -996,16 +996,16 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
math::Vector<3> rates;
if (_selected_gyro == 0) {
rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[0]) * _sensor_correction.gyro_scale_0[0];
rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[1]) * _sensor_correction.gyro_scale_0[1];
rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_0[2]) * _sensor_correction.gyro_scale_0[2];
rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_0[1]) * _sensor_correction.gyro_scale_0[1];
rates(2) = (_sensor_gyro.z - _sensor_correction.gyro_offset_0[2]) * _sensor_correction.gyro_scale_0[2];
} else if (_selected_gyro == 1) {
rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[0]) * _sensor_correction.gyro_scale_1[0];
rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[1]) * _sensor_correction.gyro_scale_1[1];
rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_1[2]) * _sensor_correction.gyro_scale_1[2];
rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_1[1]) * _sensor_correction.gyro_scale_1[1];
rates(2) = (_sensor_gyro.z - _sensor_correction.gyro_offset_1[2]) * _sensor_correction.gyro_scale_1[2];
} else if (_selected_gyro == 2) {
rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[0]) * _sensor_correction.gyro_scale_2[0];
rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[1]) * _sensor_correction.gyro_scale_2[1];
rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[2]) * _sensor_correction.gyro_scale_2[2];
rates(1) = (_sensor_gyro.y - _sensor_correction.gyro_offset_2[1]) * _sensor_correction.gyro_scale_2[1];
rates(2) = (_sensor_gyro.z - _sensor_correction.gyro_offset_2[2]) * _sensor_correction.gyro_scale_2[2];
} else {
rates(0) = _sensor_gyro.x;