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Code Issues Releases Activity

OP-1309 changed behaviour of Rattitude again to mimick old one

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This commit is contained in:
Corvus Corax 2014-05-01 17:08:43 +02:00
parent 7275d9a807
commit 936a52112a
1 changed files with 2 additions and 2 deletions
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4
flight/modules/Stabilization/outerloop.c
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@ -160,8 +160,8 @@ static void stabilizationOuterloopTask()
float rateDesiredAxisRate = stickinput[t] * cast_struct_to_array(stabSettings.stabBank.ManualRate, stabSettings.stabBank.ManualRate.Roll)[t];
// limit corrective rate to maximum rates to not give it overly large impact over manual rate when joined together
rateDesiredAxis[t] = boundf(pid_apply(&stabSettings.outerPids[t], local_error[t], dT),
-cast_struct_to_array(stabSettings.stabBank.MaximumRate, stabSettings.stabBank.MaximumRate.Roll)[t],
cast_struct_to_array(stabSettings.stabBank.MaximumRate, stabSettings.stabBank.MaximumRate.Roll)[t]
-cast_struct_to_array(stabSettings.stabBank.ManualRate, stabSettings.stabBank.ManualRate.Roll)[t],
cast_struct_to_array(stabSettings.stabBank.ManualRate, stabSettings.stabBank.ManualRate.Roll)[t]
);
// Compute the weighted average rate desired
// Using max() rather than sqrt() for cpu speed;