yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #2187 from PX4/fixconstrainairspeed

Browse Source 
make constrain airspeed actually constrain the airspeed
This commit is contained in:
Lorenz Meier
2015-05-16 23:20:06 +02:00
parent 03ef6a30ec 8a891591a8
commit 26954ece2c
1 changed files with 2 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/lib/ecl/attitude_fw/ecl_controller.cpp
View File

@@ -132,9 +132,9 @@ float ECL_Controller::constrain_airspeed(float airspeed, float minspeed, float m
float airspeed_result = airspeed;
if (!isfinite(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */
airspeed = 0.5f * (minspeed + maxspeed);
airspeed_result = 0.5f * (minspeed + maxspeed);
} else if (airspeed < minspeed) {
airspeed = minspeed;
airspeed_result = minspeed;
}
return airspeed_result;
}