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tecs: roll2thr: fix to be consistent with comment

This commit is contained in:
Thomas Gubler 2013-11-24 12:29:48 +01:00
parent f267fcf4ff
commit 85a76a32c5
1 changed files with 1 additions and 1 deletions
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src/lib/external_lgpl/tecs/tecs.cpp
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@ -300,7 +300,7 @@ void TECS::_update_throttle(float throttle_cruise, const math::Dcm &rotMat)
// additional component which scales with (1/cos(bank angle) - 1) to compensate for induced
// drag increase during turns.
float cosPhi = sqrtf((rotMat(0, 1) * rotMat(0, 1)) + (rotMat(1, 1) * rotMat(1, 1)));
STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi * cosPhi , 0.1f, 1.0f) - 1.0f);
STEdot_dem = STEdot_dem + _rollComp * (1.0f / constrain(cosPhi , 0.1f, 1.0f) - 1.0f);
if (STEdot_dem >= 0) {
ff_throttle = nomThr + STEdot_dem / _STEdot_max * (1.0f - nomThr);