From 48fa3fbca35255daa7c6b33820c6210090c36675 Mon Sep 17 00:00:00 2001
From: Dennis Mannhart <dennis@yuneecresearch.com>
Date: Thu, 15 Mar 2018 10:23:59 +0100
Subject: [PATCH] PositionControl: thrust setpoint check with fabsf
---
src/modules/mc_pos_control/PositionControl.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/modules/mc_pos_control/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl.cpp
index ee492f8c3a..3dec5711d4 100644
--- a/src/modules/mc_pos_control/PositionControl.cpp
+++ b/src/modules/mc_pos_control/PositionControl.cpp
@@ -243,10 +243,10 @@ void PositionControl::_velocityController(const float &dt)
}
- /* Satureate thrust setpoint in D-direction */
+ /* Saturate thrust setpoint in D-direction */
_thr_sp(2) = math::constrain(thrust_desired_D, uMin, uMax);
- if (_thr_sp(0) + _thr_sp(1) > FLT_EPSILON) {
+ if (fabsf(_thr_sp(0)) + fabsf(_thr_sp(1)) > FLT_EPSILON) {
/* Thrust setpoints in NE-direction is already provided. Only
* scaling is required.
--
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