From 5a66ff1ef924b4e40d825b534df309bc7fd7b541 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Sat, 23 Aug 2014 21:42:23 +0900
Subject: [PATCH] AC_AttControl: bug fix for ef target during acro
---
libraries/AC_AttitudeControl/AC_AttitudeControl.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
index 45a5112c6..4a2aae82c 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.cpp
@@ -387,12 +387,12 @@ void AC_AttitudeControl::rate_bf_roll_pitch_yaw(float roll_rate_bf, float pitch_
}
if (_angle_ef_target.y > 9000.0f) {
_angle_ef_target.x = wrap_180_cd_float(_angle_ef_target.x + 18000.0f);
- _angle_ef_target.y = wrap_180_cd_float(18000.0f - _angle_ef_target.x);
+ _angle_ef_target.y = wrap_180_cd_float(18000.0f - _angle_ef_target.y);
_angle_ef_target.z = wrap_360_cd_float(_angle_ef_target.z + 18000.0f);
}
if (_angle_ef_target.y < -9000.0f) {
_angle_ef_target.x = wrap_180_cd_float(_angle_ef_target.x + 18000.0f);
- _angle_ef_target.y = wrap_180_cd_float(-18000.0f - _angle_ef_target.x);
+ _angle_ef_target.y = wrap_180_cd_float(-18000.0f - _angle_ef_target.y);
_angle_ef_target.z = wrap_360_cd_float(_angle_ef_target.z + 18000.0f);
}
}
--
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