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Code Issues Releases Activity

Guidance: Small sign error

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2209 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124 2010-12-10 17:14:35 +00:00 committed by peabody124
parent b046829217
commit fd10c6ffff
1 changed files with 1 additions and 1 deletions
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flight/OpenPilot/Modules/Guidance/guidance.c
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@ -249,7 +249,7 @@ static void updateVtolDesiredAttitude()
// Project the north and east command signals into the pitch and roll based on yaw. For this to behave well the
// craft should move similarly for 5 deg roll versus 5 deg pitch
attitudeDesired.Pitch = bound(-northCommand * cosf(attitudeActual.Yaw * M_PI / 180) +
eastCommand * sinf(attitudeActual.Yaw * M_PI / 180),
-eastCommand * sinf(attitudeActual.Yaw * M_PI / 180),
-stabSettings.PitchMax, stabSettings.PitchMax);
attitudeDesired.Roll = bound(-northCommand * sinf(attitudeActual.Yaw * M_PI / 180) +
eastCommand * cosf(attitudeActual.Yaw * M_PI / 180),