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Code Issues Releases Activity

Modules/Guidance: Bugfix in Position-Hold code

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@3112 ebee16cc-31ac-478f-84a7-5cbb03baadba
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corvus 2011-03-31 20:08:14 +00:00 committed by corvus
parent b78c3ad0a8
commit da76192e47
1 changed files with 1 additions and 1 deletions
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flight/Modules/Guidance/guidance.c
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@ -275,7 +275,7 @@ void updateVtolDesiredVelocity()
-guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT], -guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT],
guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT]); guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT]);
eastCommand = (eastError * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP] + eastCommand = (eastError * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP] +
northPosIntegral); eastPosIntegral);
velocityDesired.North = bound(northCommand,-guidanceSettings.HorizontalVelMax,guidanceSettings.HorizontalVelMax); velocityDesired.North = bound(northCommand,-guidanceSettings.HorizontalVelMax,guidanceSettings.HorizontalVelMax);