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mc_pos_control: delta_t needs to be positive

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Dennis Mannhart
2017-03-01 09:06:52 +01:00
committed by Lorenz Meier
parent 2b90224075
commit e892a51afb
1 changed files with 1 additions and 1 deletions
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2
src/modules/mc_pos_control/mc_pos_control_main.cpp
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@@ -1036,7 +1036,7 @@ MulticopterPositionControl::control_manual(float dt)
float max_acc_z = (_vel(2) < 0.0f ? _params.acc_down_max : -_params.acc_up_max);
/* time to travel from current velocity to zero velocity */
float delta_t = -_vel(2) / max_acc_z;
float delta_t = fabsf(_vel(2) / max_acc_z);
/* set desired position setpoint assuming max acceleraiton */
_pos_sp(2) = _pos(2) + _vel(2) * delta_t + 0.5f * max_acc_z * delta_t *delta_t;