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Merge pull request #2187 from PX4/fixconstrainairspeed

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make constrain airspeed actually constrain the airspeed
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Lorenz Meier
2015-05-16 23:20:06 +02:00
parent 03ef6a30ec 8a891591a8
commit 26954ece2c
1 changed files with 2 additions and 2 deletions
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4
src/lib/ecl/attitude_fw/ecl_controller.cpp
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@@ -132,9 +132,9 @@ float ECL_Controller::constrain_airspeed(float airspeed, float minspeed, float m
float airspeed_result = airspeed; float airspeed_result = airspeed;
if (!isfinite(airspeed)) { if (!isfinite(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */ /* 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) { } else if (airspeed < minspeed) {
airspeed = minspeed; airspeed_result = minspeed;
} }
return airspeed_result; return airspeed_result;
} }