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px4-firmware
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More fixed wing improvements

This commit is contained in:
Lorenz Meier 2012-11-26 17:42:08 +01:00
parent 7cc712b286
commit 9bc044eae9
1 changed files with 1 additions and 1 deletions
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2
apps/fixedwing_pos_control/fixedwing_pos_control_main.c
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@ -334,7 +334,7 @@ int fixedwing_pos_control_thread_main(int argc, char *argv[])
float psi_rate_e = psi_rate_c - att.yawspeed;
float psi_rate_e_scaled = psi_rate_e * sqrtf(pow(global_pos.vx,2) + pow(global_pos.vy,2)) / 9.81f; //* V_gr / g
float psi_rate_e_scaled = psi_rate_e * sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy) / 9.81f; //* V_gr / g
attitude_setpoint.roll_body = pid_calculate(&heading_rate_controller, psi_rate_e_scaled, 0.0f, 0.0f, deltaT);