Typo in AHRS Limiter

paparazzi · Aug 1, 2011 · 69bcede · 69bcede
1 parent cae05e4
commit 69bcede
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c b/sw/airborne/subsystems/ahrs/ahrs_float_dcm.c
@@ -462,8 +462,8 @@ void Drift_correction(void)
 
   //  Here we will place a limit on the integrator so that the integrator cannot ever exceed half the saturation limit of the gyros
   Integrator_magnitude = sqrt(Vector_Dot_Product(Omega_I,Omega_I));
-  if (Integrator_magnitude > DegOfRad(300)) {
-    Vector_Scale(Omega_I,Omega_I,0.5f*DegOfRad(300)/Integrator_magnitude);
+  if (Integrator_magnitude > RadOfDeg(300)) {
+    Vector_Scale(Omega_I,Omega_I,0.5f*RadOfDeg(300)/Integrator_magnitude);
   }