dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

L1_pos_controller: Fixed strange bitwise or

This commit is contained in:
Julian Oes 2013-11-21 10:47:02 +01:00
parent 18941155b2
commit dca72ba6ee
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/lib/ecl/l1/ecl_l1_pos_controller.cpp
View File

@ -280,7 +280,7 @@ void ECL_L1_Pos_Controller::navigate_loiter(const math::Vector2f &vector_A, cons
*/
// XXX check switch over
if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) |
if ((lateral_accel_sp_center < lateral_accel_sp_circle && loiter_direction > 0 && xtrack_err_circle > 0.0f) ||
(lateral_accel_sp_center > lateral_accel_sp_circle && loiter_direction < 0 && xtrack_err_circle > 0.0f)) {
_lateral_accel = lateral_accel_sp_center;
_circle_mode = false;