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remove bogus dt from att rate

This commit is contained in:
Lorenz Meier 2012-10-20 19:53:49 +02:00
parent 5ec5754f26
commit 42c61271ea
1 changed files with 1 additions and 1 deletions
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2
apps/multirotor_att_control/multirotor_attitude_control.c
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@ -249,7 +249,7 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
att->roll, att->rollspeed, deltaT);
/* control yaw rate */
rates_sp->yaw= deltaT * p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body));
rates_sp->yaw = p.yaw_p * atan2f(sinf(att->yaw - att_sp->yaw_body), cosf(att->yaw - att_sp->yaw_body));