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Code Issues Releases Activity

Fix bug limiting maximum velocity desired

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This commit is contained in:
James Cotton 2012-04-14 10:49:54 -05:00
parent 136bbe3814
commit 3e2feb64cf
1 changed files with 1 additions and 1 deletions
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2
flight/Modules/Guidance/guidance.c
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@ -279,7 +279,7 @@ void updateVtolDesiredVelocity()
eastPosIntegral);
float total_vel = sqrtf(powf(velocityDesired.North,2) + powf(velocityDesired.East,2));
float total_vel = sqrtf(powf(northCommand,2) + powf(eastCommand,2));
float scale = 1;
if(total_vel > guidanceSettings.HorizontalVelMax)
scale = guidanceSettings.HorizontalVelMax / total_vel;