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Code style adjustments

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This commit is contained in:
Lorenz Meier
2016-10-18 09:50:56 +02:00
committed by Lorenz Meier
parent a12780c88f
commit 3696e7722a
1 changed files with 3 additions and 3 deletions
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6
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -1655,11 +1655,11 @@ MulticopterPositionControl::task_main()
// choose velocity xyz setpoint such that the resulting thrust setpoint has the direction
// given by the last attitude setpoint
_vel_sp(0) = _vel(0) + (-Rb(0,
2) * _att_sp.thrust - thrust_int(0) - _vel_err_d(0) * _params.vel_d(0)) / _params.vel_p(0);
2) * _att_sp.thrust - thrust_int(0) - _vel_err_d(0) * _params.vel_d(0)) / _params.vel_p(0);
_vel_sp(1) = _vel(1) + (-Rb(1,
2) * _att_sp.thrust - thrust_int(1) - _vel_err_d(1) * _params.vel_d(1)) / _params.vel_p(1);
2) * _att_sp.thrust - thrust_int(1) - _vel_err_d(1) * _params.vel_d(1)) / _params.vel_p(1);
_vel_sp(2) = _vel(2) + (-Rb(2,
2) * _att_sp.thrust - thrust_int(2) - _vel_err_d(2) * _params.vel_d(2)) / _params.vel_p(2);
2) * _att_sp.thrust - thrust_int(2) - _vel_err_d(2) * _params.vel_d(2)) / _params.vel_p(2);
_vel_sp_prev(0) = _vel_sp(0);
_vel_sp_prev(1) = _vel_sp(1);
_vel_sp_prev(2) = _vel_sp(2);